Surgical instruments comprising a system for articulation and rotation compensation

ABSTRACT

A surgical instrument is disclosed comprising a shaft and an end effector rotatably connected to the shaft about an articulation joint. The surgical instrument comprises a plurality of rotation joints which can be simultaneously operated to maintain the alignment of a portion of the surgical instrument relative to the patient tissue.

CROSS-REFERENCE TO RELATED APPLICATIONS

This non-provisional application claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Patent Application Ser. No. 62/578,793,entitled SURGICAL INSTRUMENT WITH REMOTE RELEASE, filed Oct. 30, 2017,of U.S. Provisional Patent Application Ser. No. 62/578,804, entitledSURGICAL INSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENTTYPES OF END EFFECTOR MOVEMENT, filed Oct. 30, 2017, of U.S. ProvisionalPatent Application Ser. No. 62/578,817, entitled SURGICAL INSTRUMENTWITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS,filed Oct. 30, 2017, of U.S. Provisional Patent Application Ser. No.62/578,835, entitled SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELYACTUATING MULTIPLE END EFFECTOR FUNCTIONS, filed Oct. 30, 2017, of U.S.Provisional Patent Application Ser. No. 62/578,844, entitled SURGICALINSTRUMENT WITH MODULAR POWER SOURCES, filed Oct. 30, 2017, and of U.S.Provisional Patent Application Ser. No. 62/578,855, entitled SURGICALINSTRUMENT WITH SENSOR AND/OR CONTROL SYSTEMS, filed Oct. 30, 2017, thedisclosures of which are incorporated by reference herein in theirentirety. This non-provisional application claims the benefit under 35U.S.C. § 119(e) of U.S. Provisional Patent Application Ser. No.62/665,129, entitled SURGICAL SUTURING SYSTEMS, filed May 1, 2018, ofU.S. Provisional Patent Application Ser. No. 62/665,139, entitledSURGICAL INSTRUMENTS COMPRISING CONTROL SYSTEMS, filed May 1, 2018, ofU.S. Provisional Patent Application Ser. No. 62/665,177, entitledSURGICAL INSTRUMENTS COMPRISING HANDLE ARRANGEMENTS, filed May 1, 2018,of U.S. Provisional Patent Application Ser. No. 62/665,128, entitledMODULAR SURGICAL INSTRUMENTS, filed May 1, 2018, of U.S. ProvisionalPatent Application Ser. No. 62/665,192, entitled SURGICAL DISSECTORS,filed May 1, 2018, and of U.S. Provisional Patent Application Ser. No.62/665,134, entitled SURGICAL CLIP APPLIER, filed May 1, 2018, thedisclosures of which are incorporated by reference herein in theirentirety.

BACKGROUND

The present invention relates to surgical systems and, in variousarrangements, to grasping instruments that are designed to grasp thetissue of a patient, dissecting instruments configured to manipulate thetissue of a patient, clip appliers configured to clip the tissue of apatient, and suturing instruments configured to suture the tissue of apatient, among others.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 illustrates a surgical system comprising a handle and severalshaft assemblies—each of which are selectively attachable to the handlein accordance with at least one embodiment;

FIG. 2 is an elevational view of the handle and one of the shaftassemblies of the surgical system of FIG. 1;

FIG. 3 is a partial cross-sectional perspective view of the shaftassembly of FIG. 2;

FIG. 4 is another partial cross-sectional perspective view of the shaftassembly of FIG. 2;

FIG. 5 is a partial exploded view of the shaft assembly of FIG. 2;

FIG. 6 is a partial cross-sectional elevational view of the shaftassembly of FIG. 2;

FIG. 7 is an elevational view of a drive module of the handle of FIG. 1;

FIG. 8 is a cross-sectional perspective view of the drive module of FIG.7;

FIG. 9 is an end view of the drive module of FIG. 7;

FIG. 10 is a partial cross-sectional view of the interconnection betweenthe handle and shaft assembly of FIG. 2 in a locked configuration;

FIG. 11 is a partial cross-sectional view of the interconnection betweenthe handle and shaft assembly of FIG. 2 in an unlocked configuration;

FIG. 12 is a cross-sectional perspective view of a motor and a speedreduction gear assembly of the drive module of FIG. 7;

FIG. 13 is an end view of the speed reduction gear assembly of FIG. 12;

FIG. 14 is a partial perspective view of an end effector of the shaftassembly of FIG. 2 in an open configuration;

FIG. 15 is a partial perspective view of the end effector of FIG. 14 ina closed configuration;

FIG. 16 is a partial perspective view of the end effector of FIG. 14articulated in a first direction;

FIG. 17 is a partial perspective view of the end effector of FIG. 14articulated in a second direction;

FIG. 18 is a partial perspective view of the end effector of FIG. 14rotated in a first direction;

FIG. 19 is a partial perspective view of the end effector of FIG. 14rotated in a second direction;

FIG. 20 is a partial cross-sectional perspective view of the endeffector of FIG. 14 detached from the shaft assembly of FIG. 2;

FIG. 21 is an exploded view of the end effector of FIG. 14 illustratedwith some components removed;

FIG. 22 is an exploded view of a distal attachment portion of the shaftassembly of FIG. 2;

FIG. 22A is an exploded view of the distal portion of the shaft assemblyof FIG. 2 illustrated with some components removed;

FIG. 23 is another partial cross-sectional perspective view of the endeffector of FIG. 14 detached from the shaft assembly of FIG. 2;

FIG. 24 is a partial cross-sectional perspective view of the endeffector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 25 is a partial cross-sectional perspective view of the endeffector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 26 is another partial cross-sectional perspective view of the endeffector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 27 is a partial cross-sectional view of the end effector of FIG. 14attached to the shaft assembly of FIG. 2 depicting a first, second, andthird clutch of the end effector;

FIG. 28 depicts the first clutch of FIG. 27 in an unactuated condition;

FIG. 29 depicts the first clutch of FIG. 27 in an actuated condition;

FIG. 30 depicts the second clutch of FIG. 27 in an unactuated condition;

FIG. 31 depicts the second clutch of FIG. 27 in an actuated condition;

FIG. 32 depicts the third clutch of FIG. 27 in an unactuated condition;

FIG. 33 depicts the third clutch of FIG. 27 in an actuated condition;

FIG. 34 depicts the second and third clutches of FIG. 27 in theirunactuated conditions and the end effector of FIG. 14 locked to theshaft assembly of FIG. 2;

FIG. 35 depicts the second clutch of FIG. 27 in its unactuated conditionand the third clutch of FIG. 27 in its actuated condition;

FIG. 36 depicts the second and third clutches of FIG. 27 in theiractuated conditions and the end effector of FIG. 14 unlocked from theshaft assembly of FIG. 2;

FIG. 37 is a partial cross-sectional view of a shaft assembly inaccordance with at least one alternative embodiment comprising sensorsconfigured to detect the conditions of the first, second, and thirdclutches of FIG. 27;

FIG. 38 is a partial cross-sectional view of a shaft assembly inaccordance with at least one alternative embodiment comprising sensorsconfigured to detect the conditions of the first, second, and thirdclutches of FIG. 27;

FIG. 39 depicts the first and second clutches of FIG. 38 in theirunactuated conditions and a sensor in accordance with at least onealternative embodiment;

FIG. 40 depicts the second and third clutches of FIG. 38 in theirunactuated conditions and a sensor in accordance with at least onealternative embodiment;

FIG. 41 is a partial cross-sectional view of a shaft assembly inaccordance with at least one embodiment;

FIG. 42 is a partial cross-sectional view of the shaft assembly of FIG.41 comprising a clutch illustrated in an unactuated condition;

FIG. 43 is a partial cross-sectional view of the shaft assembly of FIG.41 illustrating the clutch in an actuated condition;

FIG. 44 is a partial cross-sectional view of a shaft assembly inaccordance with at least one embodiment comprising first and secondclutches illustrated in an unactuated condition;

FIG. 45 is a perspective view of the handle drive module of FIG. 7 andone of the shaft assemblies of the surgical system of FIG. 1;

FIG. 46 is another perspective view of the handle drive module of FIG. 7and the shaft assembly of FIG. 45;

FIG. 47 is a partial cross-sectional view of the shaft assembly of FIG.45 attached to the handle of FIG. 1;

FIG. 48 is another partial cross-sectional view of the shaft assembly ofFIG. 45 attached to the handle of FIG. 1;

FIG. 49 is a partial cross-sectional perspective view of the shaftassembly of FIG. 45;

FIG. 50 is a schematic of the control system of the surgical system ofFIG. 1.

FIG. 51 is a perspective view of a shaft assembly in accordance with atleast one embodiment;

FIG. 52 is a perspective view of the shaft assembly of FIG. 51illustrated with some components removed;

FIG. 53 is a perspective view of an end effector of the shaft assemblyof FIG. 51;

FIG. 54 is a perspective view of a drive assembly of the shaft assemblyof FIG. 51;

FIG. 55 is another perspective view of the drive assembly of FIG. 54;

FIG. 56 is a partial plan view of the drive assembly of FIG. 54;

FIG. 57 is a partial cross-sectional view of a drive assembly inaccordance with at least one alternative embodiment;

FIG. 58 is an elevational view of the drive assembly of FIG. 54illustrated in a shifting configuration with some components removed;

FIG. 59 is an elevational view of the drive assembly of FIG. 54illustrated in a drive configuration with some components removed;

FIG. 60 is a top view of the drive assembly of FIG. 54 in the driveconfiguration;

FIG. 61 is a top view of the drive assembly of FIG. 54 in the shiftingconfiguration;

FIG. 62 is a partial perspective cross-sectional view of the endeffector of FIG. 53;

FIG. 63 is a partial perspective cross-sectional view of the endeffector of FIG. 53;

FIG. 64 is a partial top cross-sectional view of the end effector ofFIG. 53 in an articulation drive mode;

FIG. 65 is a partial top cross-sectional view of the end effector ofFIG. 53 in an articulated configuration;

FIG. 66 is a partial top cross-sectional view of the end effector ofFIG. 53 in a rotation drive mode;

FIG. 67 is a partial top cross-sectional view of the end effector ofFIG. 53 in a rotated configuration;

FIG. 68 is a partial top cross-sectional view of the end effector ofFIG. 53 in a jaw open/closure drive mode;

FIG. 69 is a partial top cross-sectional view of the end effector ofFIG. 53 in a closed configuration;

FIG. 70 is a perspective view of a drive assembly of a shaft assembly inaccordance with at least one embodiment;

FIG. 71 is a perspective view of an end effector of the shaft assemblyof FIG. 70 in an open configuration;

FIG. 72 is a partial perspective cross-sectional view of the endeffector of FIG. 71;

FIG. 73 is another partial perspective cross-sectional view of the endeffector of FIG. 71;

FIG. 74 is a partial top cross-sectional view of the end effector ofFIG. 71 in an articulation drive mode;

FIG. 75 is a partial top cross-sectional view of the end effector ofFIG. 71 in an articulated configuration;

FIG. 76 is a partial top cross-sectional view of the end effector ofFIG. 71 in a rotation drive mode;

FIG. 77 is a partial top cross-sectional view of the end effector ofFIG. 71 in a rotated configuration;

FIG. 78 is a partial top cross-sectional view of the end effector ofFIG. 71 in a jaw open/closure drive mode;

FIG. 79 is a partial top cross-sectional view of the end effector ofFIG. 71 in a closed configuration;

FIG. 80 is a partial top cross-sectional view of a drive shaft inaccordance with at least one embodiment;

FIG. 81 is a partial top cross-sectional view of the drive shaft of FIG.80 in an articulated configuration;

FIG. 82 is a partial perspective view of a distal end of a shaftassembly of a surgical instrument in accordance with at least oneembodiment;

FIG. 83 is a partial perspective view of the distal end of FIG. 82illustrating an extended lock element;

FIG. 84 is a partial perspective view of an interconnection between ashaft and a handle of a surgical instrument in accordance with at leastone embodiment;

FIG. 85 is a partial perspective view of a drive system of a surgicalinstrument comprising an electric motor input and a shiftabletransmission;

FIG. 86 is a partial perspective view of a drive system of a surgicalinstrument comprising an electric motor input and a shiftabletransmission;

FIG. 86A depicts the transmission of FIG. 86 in a first configuration;

FIG. 86B depicts the transmission of FIG. 86 being shifted into a secondconfiguration;

FIG. 86C depicts the transmission of FIG. 86 in the secondconfiguration;

FIG. 87A is a partial cross-sectional view of a drive system of asurgical instrument comprising a shiftable input in accordance with atleast one embodiment;

FIG. 87B depicts the surgical instrument of FIG. 87A in an openconfiguration;

FIG. 87C depicts the surgical instrument of FIG. 87A in an unarticulatedconfiguration;

FIG. 87D depicts the surgical instrument of FIG. 87A in an articulatedconfiguration;

FIG. 88A is a partial cross-sectional view of a drive system of asurgical instrument comprising a transmission in accordance with atleast one embodiment;

FIG. 88B depicts the transmission in a second configuration;

FIG. 89 is a partial cross-sectional view of a drive system of asurgical instrument in accordance with at least one embodiment;

FIG. 90 is a partial perspective view of a drive system of a surgicalinstrument in accordance with at least one embodiment;

FIG. 91 is a detail view of the drive system of FIG. 90;

FIG. 92 is a perspective view of flexible drive shafts in accordancewith at least one embodiment;

FIG. 93 is a partial perspective view of the surgical instrument of FIG.90;

FIG. 94 is a partial perspective view of a surgical instrument system inaccordance with at least one embodiment;

FIG. 95A is a side view of a drive system of the surgical instrumentsystem of FIG. 94;

FIG. 95B is an end view of the drive system of FIG. 95A;

FIG. 96 is a partial perspective view of a drive system of a surgicalinstrument in accordance with at least one embodiment attached to afirst handle;

FIG. 97 is a partial perspective view of the drive system of FIG. 96attached to a second handle;

FIG. 98 is a partial cross-sectional view of a drive system of asurgical instrument in accordance with at least one embodiment;

FIG. 99 is an end view of a portion of the surgical instrument of FIG.98;

FIG. 100 is a cross-sectional end view of a portion of a surgicalinstrument in accordance with at least one embodiment;

FIG. 101 is a perspective view of the drive system of FIG. 98;

FIG. 102 is a partial perspective view of a drive system in accordancewith at least one embodiment illustrated with some components removed;

FIG. 103 is a partial perspective view of the surgical instrument ofFIG. 100;

FIG. 104 is a graph depicting the rotation and articulation of an endeffector of a surgical instrument;

FIG. 105 is a partial top view of a shaft assembly comprising arotatable and articulatable end effector;

FIG. 106 is a graph depicting the rotation and articulation of the endeffector of FIG. 105 in at least one instance;

FIG. 107 is another partial top view of the shaft assembly of FIG. 105;

FIG. 108 is a graph depicted the rotation and articulation of the endeffector of FIG. 105 in at least one instance;

FIG. 109 is a partial cross-sectional view of a surgical instrument inaccordance with at least one embodiment;

FIG. 110 is a partial cross-sectional view of the surgical instrument ofFIG. 109;

FIG. 111A is a partial cross-sectional view of a surgical instrumentcomprising a shiftable transmission in accordance with at least oneembodiment;

FIG. 111B illustrates the transmission of FIG. 111A in a firstconfiguration;

FIG. 111C illustrates the transmission of FIG. 111B in a secondconfiguration;

FIG. 112 is a partial perspective view of a surgical instrument inaccordance with at least one embodiment;

FIG. 113A is a partial cross-sectional view of a surgical instrumentcomprising a shaft assembly and a detachable end effector in accordancewith at least one embodiment;

FIG. 113B depicts the end effector in an attached state;

FIG. 114 is a partial cross-sectional view of a drive shaftinterconnection in accordance with at least one embodiment;

FIG. 115 is a partial cross-sectional view of a shaft assemblycomprising an end effector and an articulation system in accordance withat least one embodiment;

FIG. 116 is a partial cross-sectional view of the shaft assembly of FIG.115;

FIG. 117 is a partial exploded view of the articulation system of FIG.115;

FIG. 118 is a partial cross-sectional view of a surgical instrumentcomprising an articulation system in accordance with at least oneembodiment;

FIG. 119 is a partial cross-sectional view of the surgical instrument ofFIG. 118 in an articulated configuration;

FIG. 120 is a partial plan view of an articulation system of a surgicalinstrument in accordance with at least one embodiment;

FIG. 121 is a partial plan view of an articulation system of a surgicalinstrument in accordance with at least one embodiment;

FIG. 122 is a partial plan view of an articulation system of a surgicalinstrument in accordance with at least one embodiment;

FIG. 123 is a partial cross-sectional view of a surgical instrumentincluding a jaw assembly capable of grasping and dissection inaccordance with at least one embodiment;

FIG. 124 is a graph depicting the force, speed, and orientation of thejaw assembly of FIG. 123 in accordance with at least one embodiment;

FIG. 125 is a partial perspective view of bipolar forceps being used tocut tissue;

FIG. 126 is a perspective view of the bipolar forceps of FIG. 125;

FIG. 127 is a graph depicting the force and speed of the jaws of thebipolar forceps of FIG. 125 in accordance with at least one embodiment;and

FIG. 128 is another graph depicting the operation of the bipolar forcepsof FIG. 125 in accordance with at least one embodiment.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. Patentapplications that were filed on even date herewith and which are eachherein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. ______, entitled SURGICAL SUTURINGINSTRUMENT CONFIGURED TO MANIPULATE TISSUE USING MECHANICAL ANDELECTRICAL POWER; Attorney Docket No. END8567USNP1/180100-1;

U.S. patent application Ser. No. ______, entitled SURGICAL SUTURINGINSTRUMENT COMPRISING A CAPTURE WIDTH WHICH IS LARGER THAN TROCARDIAMETER; Attorney Docket No. END8567USNP2/180100-2;

U.S. patent application Ser. No. ______, entitled SURGICAL SUTURINGINSTRUMENT COMPRISING A NON-CIRCULAR NEEDLE; Attorney Docket No.END8567USNP3/180100-3;

U.S. patent application Ser. No. ______, entitled ELECTRICAL POWEROUTPUT CONTROL BASED ON MECHANICAL FORCES; Attorney Docket No.END8567USNP4/180100-4;

U.S. patent application Ser. No. ______, entitled REACTIVE ALGORITHM FORSURGICAL SYSTEM; Attorney Docket No. END8567USNP5/180100-5;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTCOMPRISING AN ADAPTIVE ELECTRICAL SYSTEM; Attorney Docket No.END8568USNP1/180101-1;

U.S. patent application Ser. No. ______, entitled CONTROL SYSTEMARRANGEMENTS FOR A MODULAR SURGICAL INSTRUMENT; Attorney Docket No.END8568USNP2/180101-2;

U.S. patent application Ser. No. ______, entitled ADAPTIVE CONTROLPROGRAMS FOR A SURGICAL SYSTEM COMPRISING MORE THAN ONE TYPE OFCARTRIDGE; Attorney Docket No. END8568USNP3/180101-3;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSYSTEMS COMPRISING BATTERY ARRANGEMENTS; Attorney Docket No.END8569USNP1/180102-1;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSYSTEMS COMPRISING HANDLE ARRANGEMENTS; Attorney Docket No.END8569USNP2/180102-2;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSYSTEMS COMPRISING FEEDBACK MECHANISMS; Attorney Docket No.END8569USNP3/180102-3;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSYSTEMS COMPRISING LOCKOUT MECHANISMS; Attorney Docket No.END8569USNP4/180102-4;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSCOMPRISING A LOCKABLE END EFFECTOR SOCKET; Attorney Docket No.END8570USNP1/180103-1;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSCOMPRISING A SHIFTING MECHANISM; Attorney Docket No.END8570USNP2/180103-2;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSCOMPRISING A BIASED SHIFTING MECHANISM; Attorney Docket No.END8570USNP4/180103-4;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTSCOMPRISING AN ARTICULATION DRIVE THAT PROVIDES FOR HIGH ARTICULATIONANGLES; Attorney Docket No. END8570USNP5/180103-5;

U.S. patent application Ser. No. ______, entitled SURGICAL DISSECTORSAND MANUFACTURING TECHNIQUES; Attorney Docket No. END8571USNP1/180104-1;

U.S. patent application Ser. No. ______, entitled SURGICAL DISSECTORSCONFIGURED TO APPLY MECHANICAL AND ELECTRICAL ENERGY; Attorney DocketNo. END8571USNP2/180104-2;

U.S. patent application Ser. No. ______, entitled SURGICAL CLIP APPLIERCONFIGURED TO STORE CLIPS IN A STORED STATE; Attorney Docket No.END8572USNP1/180105-1;

U.S. patent application Ser. No. ______, entitled SURGICAL CLIP APPLIERCOMPRISING AN EMPTY CLIP CARTRIDGE LOCKOUT; Attorney Docket No.END8572USNP2/180105-2;

U.S. patent application Ser. No. ______, entitled SURGICAL CLIP APPLIERCOMPRISING AN AUTOMATIC CLIP FEEDING SYSTEM; Attorney Docket No.END8572USNP3/180105-3;

U.S. patent application Ser. No. ______, entitled SURGICAL CLIP APPLIERCOMPRISING ADAPTIVE FIRING CONTROL; Attorney Docket No.END8572USNP4/180105-4; and

U.S. patent application Ser. No. ______, entitled SURGICAL CLIP APPLIERCOMPRISING ADAPTIVE CONTROL IN RESPONSE TO A STRAIN GAUGE CIRCUIT;Attorney Docket No. END8572USNP5/180105-5.

Applicant of the present application owns the following U.S. patentapplications that were filed on May 1, 2018 and which are each hereinincorporated by reference in their respective entireties:

U.S. Provisional Patent Application Ser. No. 62/665,129, entitledSURGICAL SUTURING SYSTEMS;

U.S. Provisional Patent Application Ser. No. 62/665,139, entitledSURGICAL INSTRUMENTS COMPRISING CONTROL SYSTEMS;

U.S. Provisional Patent Application Ser. No. 62/665,177, entitledSURGICAL INSTRUMENTS COMPRISING HANDLE ARRANGEMENTS;

U.S. Provisional Patent Application Ser. No. 62/665,128, entitledMODULAR SURGICAL INSTRUMENTS;

U.S. Provisional Patent Application Ser. No. 62/665,192, entitledSURGICAL DISSECTORS; and

U.S. Provisional Patent Application Ser. No. 62/665,134, entitledSURGICAL CLIP APPLIER.

Applicant of the present application owns the following U.S. patentapplications that were filed on Feb. 28, 2018 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/908,021, entitled SURGICALINSTRUMENT WITH REMOTE RELEASE;

U.S. patent application Ser. No. 15/908,012, entitled SURGICALINSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENT TYPES OFEND EFFECTOR MOVEMENT;

U.S. patent application Ser. No. 15/908,040, entitled SURGICALINSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTORFUNCTIONS;

U.S. patent application Ser. No. 15/908,057, entitled SURGICALINSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTORFUNCTIONS;

U.S. patent application Ser. No. 15/908,058, entitled SURGICALINSTRUMENT WITH MODULAR POWER SOURCES; and

U.S. patent application Ser. No. 15/908,143, entitled SURGICALINSTRUMENT WITH SENSOR AND/OR CONTROL SYSTEMS.

Applicant of the present application owns the following U.S. patentapplications that were filed on Oct. 30, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. Provisional Patent Application Ser. No. 62/578,793, entitledSURGICAL INSTRUMENT WITH REMOTE RELEASE;

U.S. Provisional Patent Application Ser. No. 62/578,804, entitledSURGICAL INSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENTTYPES OF END EFFECTOR MOVEMENT;

U.S. Provisional Patent Application Ser. No. 62/578,817, entitledSURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE ENDEFFECTOR FUNCTIONS;

U.S. Provisional Patent Application Ser. No. 62/578,835, entitledSURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE ENDEFFECTOR FUNCTIONS;

U.S. Provisional Patent Application Ser. No. 62/578,844, entitledSURGICAL INSTRUMENT WITH MODULAR POWER SOURCES; and

U.S. Provisional Patent Application Ser. No. 62/578,855, entitledSURGICAL INSTRUMENT WITH SENSOR AND/OR CONTROL SYSTEMS.

Applicant of the present application owns the following U.S. Provisionalpatent applications, filed on Dec. 28, 2017, the disclosure of each ofwhich is herein incorporated by reference in its entirety:

U.S. Provisional Patent Application Ser. No. 62/611,341, entitledINTERACTIVE SURGICAL PLATFORM;

U.S. Provisional Patent Application Ser. No. 62/611,340, entitledCLOUD-BASED MEDICAL ANALYTICS; and

U.S. Provisional Patent Application Ser. No. 62/611,339, entitled ROBOTASSISTED SURGICAL PLATFORM.

Applicant of the present application owns the following U.S. Provisionalpatent applications, filed on Mar. 28, 2018, each of which is hereinincorporated by reference in its entirety:

U.S. Provisional Patent Application Ser. No. 62/649,302, entitledINTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;

U.S. Provisional Patent Application Ser. No. 62/649,294, entitled DATASTRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZEDRECORD;

U.S. Provisional Patent Application Ser. No. 62/649,300, entitledSURGICAL HUB SITUATIONAL AWARENESS;

U.S. Provisional Patent Application Ser. No. 62/649,309, entitledSURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATINGTHEATER;

U.S. Provisional Patent Application Ser. No. 62/649,310, entitledCOMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;

U.S. Provisional Patent Application Ser. No. 62/649,291, entitled USE OFLASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OFBACK SCATTERED LIGHT;

U.S. Provisional Patent Application Ser. No. 62/649,296, entitledADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;

U.S. Provisional Patent Application Ser. No. 62/649,333, entitledCLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO AUSER;

U.S. Provisional Patent Application Ser. No. 62/649,327, entitledCLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS ANDREACTIVE MEASURES;

U.S. Provisional Patent Application Ser. No. 62/649,315, entitled DATAHANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;

U.S. Provisional Patent Application Ser. No. 62/649,313, entitled CLOUDINTERFACE FOR COUPLED SURGICAL DEVICES;

U.S. Provisional Patent Application Ser. No. 62/649,320, entitled DRIVEARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

U.S. Provisional Patent Application Ser. No. 62/649,307, entitledAUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and

U.S. Provisional Patent Application Ser. No. 62/649,323, entitledSENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

U.S. patent application Ser. No. 15/940,641, entitled INTERACTIVESURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;

U.S. patent application Ser. No. 15/940,648, entitled INTERACTIVESURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATACAPABILITIES;

U.S. patent application Ser. No. 15/940,656, entitled SURGICAL HUBCOORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES;

U.S. patent application Ser. No. 15/940,666, entitled SPATIAL AWARENESSOF SURGICAL HUBS IN OPERATING ROOMS;

U.S. patent application Ser. No. 15/940,670, entitled COOPERATIVEUTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENTSURGICAL HUBS;

U.S. patent application Ser. No. 15/940,677, entitled SURGICAL HUBCONTROL ARRANGEMENTS;

U.S. patent application Ser. No. 15/940,632, entitled DATA STRIPPINGMETHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;

U.S. patent application Ser. No. 15/940,640, entitled COMMUNICATION HUBAND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICALDEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS;

U.S. patent application Ser. No. 15/940,645, entitled SELF DESCRIBINGDATA PACKETS GENERATED AT AN ISSUING INSTRUMENT;

U.S. patent application Ser. No. 15/940,649, entitled DATA PAIRING TOINTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME;

U.S. patent application Ser. No. 15/940,654, entitled SURGICAL HUBSITUATIONAL AWARENESS;

U.S. patent application Ser. No. 15/940,663, entitled SURGICAL SYSTEMDISTRIBUTED PROCESSING;

U.S. patent application Ser. No. 15/940,668, entitled AGGREGATION ANDREPORTING OF SURGICAL HUB DATA;

U.S. patent application Ser. No. 15/940,671, entitled SURGICAL HUBSPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;

U.S. patent application Ser. No. 15/940,686, entitled DISPLAY OFALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE;

U.S. patent application Ser. No. 15/940,700, entitled STERILE FIELDINTERACTIVE CONTROL DISPLAYS;

U.S. patent application Ser. No. 15/940,629, entitled COMPUTERIMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;

U.S. patent application Ser. No. 15/940,704, entitled USE OF LASER LIGHTAND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTEREDLIGHT;

U.S. patent application Ser. No. 15/940,722, entitled CHARACTERIZATIONOF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHTREFRACTIVITY; and

U.S. patent application Ser. No. 15/940,742, entitled DUAL CMOS ARRAYIMAGING.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

U.S. patent application Ser. No. 15/940,636, entitled ADAPTIVE CONTROLPROGRAM UPDATES FOR SURGICAL DEVICES;

U.S. patent application Ser. No. 15/940,653, entitled ADAPTIVE CONTROLPROGRAM UPDATES FOR SURGICAL HUBS;

U.S. patent application Ser. No. 15/940,660, entitled CLOUD-BASEDMEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;

U.S. patent application Ser. No. 15/940,679, entitled CLOUD-BASEDMEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCEACQUISITION BEHAVIORS OF LARGER DATA SET;

U.S. patent application Ser. No. 15/940,694, entitled CLOUD-BASEDMEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OFINSTRUMENT FUNCTION;

U.S. patent application Ser. No. 15/940,634, entitled CLOUD-BASEDMEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVEMEASURES;

U.S. patent application Ser. No. 15/940,706, entitled DATA HANDLING ANDPRIORITIZATION IN A CLOUD ANALYTICS NETWORK; and

U.S. patent application Ser. No. 15/940,675, entitled CLOUD INTERFACEFOR COUPLED SURGICAL DEVICES.

Applicant of the present application owns the following U.S. patentapplications, filed on Mar. 29, 2018, each of which is hereinincorporated by reference in its entirety:

U.S. patent application Ser. No. 15/940,627, entitled DRIVE ARRANGEMENTSFOR ROBOT-ASSISTED SURGICAL PLATFORMS;

U.S. patent application Ser. No. 15/940,637, entitled COMMUNICATIONARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

U.S. patent application Ser. No. 15/940,642, entitled CONTROLS FORROBOT-ASSISTED SURGICAL PLATFORMS;

U.S. patent application Ser. No. 15/940,676, entitled AUTOMATIC TOOLADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

U.S. patent application Ser. No. 15/940,680, entitled CONTROLLERS FORROBOT-ASSISTED SURGICAL PLATFORMS;

U.S. patent application Ser. No. 15/940,683, entitled COOPERATIVESURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;

U.S. patent application Ser. No. 15/940,690, entitled DISPLAYARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and

U.S. patent application Ser. No. 15/940,711, entitled SENSINGARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

Applicant of the present application owns the following U.S. Provisionalpatent applications, filed on Mar. 30, 2018, each of which is hereinincorporated by reference in its entirety:

U.S. Provisional Patent Application Ser. No. 62/650,887, entitledSURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES;

U.S. Provisional Patent Application Ser. No. 62/650,877, entitledSURGICAL SMOKE EVACUATION SENSING AND CONTROLS;

U.S. Provisional Patent Application Ser. No. 62/650,882, entitled SMOKEEVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM; and

U.S. Provisional Patent Application Ser. No. 62/650,898, entitledCAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS.

Applicant of the present application owns the following U.S. Provisionalpatent application, filed on Apr. 19, 2018, which is herein incorporatedby reference in its entirety:

U.S. Provisional Patent Application Ser. No. 62/659,900, entitled METHODOF HUB COMMUNICATION.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”), and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes”, or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes”, or “contains” one or more features possesses thoseone or more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical instrument, such as a grasper, for example, can comprise ahandle, a shaft extending from the handle, and an end effector extendingfrom the shaft. In various instances, the end effector comprises a firstjaw and a second jaw, wherein one or both of the jaws are movablerelative to the other to grasp the tissue of a patient. That said, anend effector of a surgical instrument can comprise any suitablearrangement and can perform any suitable function. For instance, an endeffector can comprise first and second jaws configured to dissect orseparate the tissue of a patient. Also, for instance, an end effectorcan be configured to suture and/or clip the tissue of a patient. Invarious instances, the end effector and/or shaft of the surgicalinstrument are configured to be inserted into a patient through atrocar, or cannula, and can have any suitable diameter, such asapproximately 5 mm, 8 mm, and/or 12 mm, for example. U.S. patentapplication Ser. No. 11/013,924, entitled TROCAR SEAL ASSEMBLY, now U.S.Pat. No. 7,371,227, is incorporated by reference in its entirety. Theshaft can define a longitudinal axis and at least a portion of the endeffector can be rotatable about the longitudinal axis. Moreover, thesurgical instrument can further comprise an articulation joint which canpermit at least a portion of the end effector to be articulated relativeto the shaft. In use, a clinician can rotate and/or articulate the endeffector in order to maneuver the end effector within the patient.

A surgical instrument system is depicted in FIG. 1. The surgicalinstrument system comprises a handle assembly 1000 which is selectivelyusable with a shaft assembly 2000, a shaft assembly 3000, a shaftassembly 4000, a shaft assembly 5000, and/or any other suitable shaftassembly. The shaft assembly 2000 is attached to the handle assembly1000 in FIG. 2 and the shaft assembly 4000 is attached to the handleassembly 1000 in FIG. 45. The shaft assembly 2000 comprises a proximalportion 2100, an elongate shaft 2200 extending from the proximal portion2100, a distal attachment portion 2400, and an articulation joint 2300rotatably connecting the distal attachment portion 2400 to the elongateshaft 2200. The shaft assembly 2000 further comprises a replaceable endeffector assembly 7000 attached to the distal attachment portion 2400.The replaceable end effector assembly 7000 comprises a jaw assembly 7100configured to be opened and closed to clamp and/or manipulate the tissueof a patient. In use, the end effector assembly 7000 can be articulatedabout the articulation joint 2300 and/or rotated relative to the distalattachment portion 2400 about a longitudinal axis to better position thejaw assembly 7100 within the patient, as described in greater detailfurther below.

Referring again to FIG. 1, the handle assembly 1000 comprises, amongother things, a drive module 1100. As described in greater detail below,the drive module 1100 comprises a distal mounting interface whichpermits a clinician to selectively attach one of the shaft assemblies2000, 3000, 4000, and 5000, for example, to the drive module 1100. Thus,each of the shaft assemblies 2000, 3000, 4000, and 5000 comprises anidentical, or an at least similar, proximal mounting interface which isconfigured to engage the distal mounting interface of the drive module1100. As also described in greater detail below, the mounting interfaceof the drive module 1100 mechanically secures and electrically couplesthe selected shaft assembly to the drive module 1100. The drive module1100 further comprises at least one electric motor, one or more controlsand/or displays, and a controller configured to operate the electricmotor—the rotational output of which is transmitted to a drive system ofthe shaft assembly attached to the drive module 1100. Moreover, thedrive module 1100 is usable with one ore more power modules, such aspower modules 1200 and 1300, for example, which are operably attachableto the drive module 1100 to supply power thereto.

Further to the above, referring again to FIGS. 1 and 2, the handle drivemodule 1100 comprises a housing 1110, a first module connector 1120, anda second module connector 1120′. The power module 1200 comprises ahousing 1210, a connector 1220, one or more release latches 1250, andone or more batteries 1230. The connector 1220 is configured to beengaged with the first module connector 1120 of the drive module 1100 inorder to attach the power module 1200 to the drive module 1100. Theconnector 1220 comprises one or more latches 1240 which mechanicallycouple and fixedly secure the housing 1210 of the power module 1200 tothe housing 1110 of the drive module 1100. The latches 1240 are movableinto disengaged positions when the release latches 1250 are depressed sothat the power module 1200 can be detached from the drive module 1100.The connector 1220 also comprises one or more electrical contacts whichplace the batteries 1230, and/or an electrical circuit including thebatteries 1230, in electrical communication with an electrical circuitin the drive module 1100.

Further to the above, referring again to FIGS. 1 and 2, the power module1300 comprises a housing 1310, a connector 1320, one or more releaselatches 1350, and one or more batteries 1330 (FIG. 47). The connector1320 is configured to be engaged with the second module connector 1120′of the drive module 1100 to attach the power module 1300 to the drivemodule 1100. The connector 1320 comprises one or more latches 1340 whichmechanically couple and fixedly secure the housing 1310 of the powermodule 1300 to the housing 1110 of the drive module 1100. The latches1340 are movable into disengaged positions when the release latches 1350are depressed so that the power module 1300 can be detached from thedrive module 1100. The connector 1320 also comprises one or moreelectrical contacts which place the batteries 1330 of the power module1300, and/or an electrical power circuit including the batteries 1330,in electrical communication with an electrical power circuit in thedrive module 1100.

Further to the above, the power module 1200, when attached to the drivemodule 1100, comprises a pistol grip which can allow a clinician to holdthe handle 1000 in a manner which places the drive module 1100 on top ofthe clinician's hand. The power module 1300, when attached to the drivemodule 1100, comprises an end grip which allows a clinician to hold thehandle 1000 like a wand. The power module 1200 is longer than the powermodule 1300, although the power modules 1200 and 1300 can comprise anysuitable length. The power module 1200 has more battery cells than thepower module 1300 and can suitably accommodate these additional batterycells owing to its length. In various instances, the power module 1200can provide more power to the drive module 1100 than the power module1300 while, in some instances, the power module 1200 can provide powerfor a longer period of time. In some instances, the housing 1110 of thedrive module 1100 comprises keys, and/or any other suitable features,which prevent the power module 1200 from being connected to the secondmodule connector 1120′ and, similarly, prevent the power module 1300from being connected to the first module connector 1120. Such anarrangement can assure that the longer power module 1200 is used in thepistol grip arrangement and that the shorter power module 1300 is usedin the wand grip arrangement. In alternative embodiments, the powermodule 1200 and the power module 1300 can be selectively coupled to thedrive module 1100 at either the first module connector 1120 or thesecond module connector 1120′. Such embodiments provide a clinician withmore options to customize the handle 1000 in a manner suitable to them.

In various instances, further to the above, only one of the powermodules 1200 and 1300 is coupled to the drive module 1100 at a time. Incertain instances, the power module 1200 can be in the way when theshaft assembly 4000, for example, is attached to the drive module 1100.Alternatively, both of the power modules 1200 and 1300 can be operablycoupled to the drive module 1100 at the same time. In such instances,the drive module 1100 can have access to power provided by both of thepower modules 1200 and 1300. Moreover, a clinician can switch between apistol grip and a wand grip when both of the power modules 1200 and 1300are attached to the drive module 1100. Moreover, such an arrangementallows the power module 1300 to act as a counterbalance to a shaftassembly, such as shaft assemblies 2000, 3000, 4000, or 5000, forexample, attached to the drive module 1100.

Referring to FIGS. 7 and 8, the handle drive module 1100 furthercomprises a frame 1500, a motor assembly 1600, a drive system 1700operably engaged with the motor assembly 1600, and a control system1800. The frame 1500 comprises an elongate shaft that extends throughthe motor assembly 1600. The elongate shaft comprises a distal end 1510and electrical contacts, or sockets, 1520 defined in the distal end1510. The electrical contacts 1520 are in electrical communication withthe control system 1800 of the drive module 1100 via one or moreelectrical circuits and are configured to convey signals and/or powerbetween the control system 1800 and the shaft assembly, such as theshaft assembly 2000, 3000, 4000, or 5000, for example, attached to thedrive module 1100. The control system 1800 comprises a printed circuitboard (PCB) 1810, at least one microprocessor 1820, and at least onememory device 1830. The board 1810 can be rigid and/or flexible and cancomprise any suitable number of layers. The microprocessor 1820 and thememory device 1830 are part of a control circuit defined on the board1810 which controls the operation of the motor assembly 1600, asdescribed in greater detail below.

Referring to FIGS. 12 and 13, the motor assembly 1600 comprises anelectric motor 1610 including a housing 1620, a drive shaft 1630, and agear reduction system. The electric motor 1610 further comprises astator including windings 1640 and a rotor including magnetic elements1650. The stator windings 1640 are supported in the housing 1620 and therotor magnetic elements 1650 are mounted to the drive shaft 1630. Whenthe stator windings 1640 are energized with an electric currentcontrolled by the control system 1800, the drive shaft 1630 is rotatedabout a longitudinal axis. The drive shaft 1630 is operably engaged witha first planetary gear system 1660 which includes a central sun gear andseveral planetary gears operably intermeshed with the sun gear. The sungear of the first planetary gear system 1660 is fixedly mounted to thedrive shaft 1630 such that it rotates with the drive shaft 1630. Theplanetary gears of the first planetary gear system 1660 are rotatablymounted to the sun gear of a second planetary gear system 1670 and,also, intermeshed with a geared or splined inner surface 1625 of themotor housing 1620. As a result of the above, the rotation of the firstsun gear rotates the first planetary gears which rotate the second sungear. Similar to the above, the second planetary gear system 1670further comprises planetary gears 1665 (FIG. 13) which drive a thirdplanetary gear system and, ultimately, the drive shaft 1710. Theplanetary gear systems 1660, 1670, and 1680 co-operate to gear down thespeed applied to the drive shaft 1710 by the motor shaft 1620. Variousalternative embodiments are envisioned without a speed reduction system.Such embodiments are suitable when it is desirable to drive the endeffector functions quickly. Notably, the drive shaft 1630 comprises anaperture, or hollow core, extending therethrough through which wiresand/or electrical circuits can extend.

The control system 1800 is in communication with the motor assembly 1600and the electrical power circuit of the drive module 1100. The controlsystem 1800 is configured to control the power delivered to the motorassembly 1600 from the electrical power circuit. The electrical powercircuit is configured to supply a constant, or at least nearly constant,direct current (DC) voltage. In at least one instance, the electricalpower circuit supplies 3 VDC to the control system 1800. The controlsystem 1800 comprises a pulse width modulation (PWM) circuit which isconfigured to deliver voltage pulses to the motor assembly 1600. Theduration or width of the voltage pulses, and/or the duration or widthbetween the voltage pulses, supplied by the PWM circuit can becontrolled in order to control the power applied to the motor assembly1600. By controlling the power applied to the motor assembly 1600, thePWM circuit can control the speed of the output shaft of the motorassembly 1600. In addition to or in lieu of a PWM circuit, the controlsystem 1800 can include a frequency modulation (FM) circuit. Asdiscussed in greater detail below, the control system 1800 is operablein more than one operating mode and, depending on the operating modebeing used, the control system 1800 can operate the motor assembly 1600at a speed, or a range of speeds, which is determined to be appropriatefor that operating mode.

Further to the above, referring again to FIGS. 7 and 8, the drive system1700 comprises a rotatable shaft 1710 comprising a splined distal end1720 and a longitudinal aperture 1730 defined therein. The rotatableshaft 1710 is operably mounted to the output shaft of the motor assembly1600 such that the rotatable shaft 1710 rotates with the motor outputshaft. The handle frame 1510 extends through the longitudinal aperture1730 and rotatably supports the rotatable shaft 1710. As a result, thehandle frame 1510 serves as a bearing for the rotatable shaft 1710. Thehandle frame 1510 and the rotatable shaft 1710 extend distally from amounting interface 1130 of the drive module 1110 and are coupled withcorresponding components on the shaft assembly 2000 when the shaftassembly 2000 is assembled to the drive module 1100. Referring primarilyto FIGS. 3-6, the shaft assembly 2000 further comprises a frame 2500 anda drive system 2700. The frame 2500 comprises a longitudinal shaft 2510extending through the shaft assembly 2000 and a plurality of electricalcontacts, or pins, 2520 extending proximally from the shaft 2510. Whenthe shaft assembly 2000 is attached to the drive module 1100, theelectrical contacts 2520 on the shaft frame 2510 engage the electricalcontacts 1520 on the handle frame 1510 and create electrical pathwaystherebetween.

Similar to the above, the drive system 2700 comprises a rotatable driveshaft 2710 which is operably coupled to the rotatable drive shaft 1710of the handle 1000 when the shaft assembly 2000 is assembled to thedrive module 1100 such that the drive shaft 2710 rotates with the driveshaft 1710. To this end, the drive shaft 2710 comprises a splinedproximal end 2720 which mates with the splined distal end 1720 of thedrive shaft 1710 such that the drive shafts 1710 and 2710 rotatetogether when the drive shaft 1710 is rotated by the motor assembly1600. Given the nature of the splined interconnection between the driveshafts 1710 and 2710 and the electrical interconnection between theframes 1510 and 2510, the shaft assembly 2000 is assembled to the handle1000 along a longitudinal axis; however, the operable interconnectionbetween the drive shafts 1710 and 2710 and the electricalinterconnection between the frames 1510 and 2510 can comprise anysuitable configuration which can allow a shaft assembly to be assembledto the handle 1000 in any suitable manner.

As discussed above, referring to FIGS. 3-8, the mounting interface 1130of the drive module 1110 is configured to be coupled to a correspondingmounting interface on the shaft assemblies 2000, 3000, 4000, and 5000,for example. For instance, the shaft assembly 2000 comprises a mountinginterface 2130 configured to be coupled to the mounting interface 1130of the drive module 1100. More specifically, the proximal portion 2100of the shaft assembly 2000 comprises a housing 2110 which defines themounting interface 2130. Referring primarily to FIG. 8, the drive module1100 comprises latches 1140 which are configured to releasably hold themounting interface 2130 of the shaft assembly 2000 against the mountinginterface 1130 of the drive module 1100. When the drive module 1100 andthe shaft assembly 2000 are brought together along a longitudinal axis,as described above, the latches 1140 contact the mounting interface 2130and rotate outwardly into an unlocked position. Referring primarily toFIGS. 8, 10, and 11, each latch 1140 comprises a lock end 1142 and apivot portion 1144. The pivot portion 1144 of each latch 1140 isrotatably coupled to the housing 1110 of the drive module 1100 and, whenthe latches 1140 are rotated outwardly, as mentioned above, the latches1140 rotate about the pivot portions 1144. Notably, each latch 1140further comprises a biasing spring 1146 configured to bias the latches1140 inwardly into a locked position. Each biasing spring 1146 iscompressed between a latch 1140 and the housing 1110 of the drive module1100 such that the biasing springs 1146 apply biasing forces to thelatches 1140; however, such biasing forces are overcome when the latches1140 are rotated outwardly into their unlocked positions by the shaftassembly 2000. That said, when the latches 1140 rotate outwardly aftercontacting the mounting interface 2130, the lock ends 1142 of thelatches 1140 can enter into latch windows 2140 defined in the mountinginterface 2130. Once the lock ends 1142 pass through the latch windows2140, the springs 1146 can bias the latches 1140 back into their lockedpositions. Each lock end 1142 comprises a lock shoulder, or surface,which securely holds the shaft assembly 2000 to the drive module 1100.

Further to the above, the biasing springs 1146 hold the latches 1140 intheir locked positions. The distal ends 1142 are sized and configured toprevent, or at least inhibit, relative longitudinal movement, i.e.,translation along a longitudinal axis, between the shaft assembly 2000and the drive module 1100 when the latches 1140 are in their lockedpositions. Moreover, the latches 1140 and the latch windows 1240 aresized and configured to prevent relative lateral movement, i.e.,translation transverse to the longitudinal axis, between the shaftassembly 2000 and the drive module 1100. In addition, the latches 1140and the latch windows 2140 are sized and configured to prevent the shaftassembly 2000 from rotating relative to the drive module 1100. The drivemodule 1100 further comprises release actuators 1150 which, whendepressed by a clinician, move the latches 1140 from their lockedpositions into their unlocked positions. The drive module 1100 comprisesa first release actuator 1150 slideably mounted in an opening defined inthe first side of the handle housing 1110 and a second release actuator1150 slideably mounted in an opening defined in a second, or opposite,side of the handle housing 1110. Although the release actuators 1150 areactuatable separately, both release actuators 1150 typically need to bedepressed to completely unlock the shaft assembly 2000 from the drivemodule 1100 and allow the shaft assembly 2000 to be detached from thedrive module 1100. That said, it is possible that the shaft assembly2000 could be detached from the drive module 1100 by depressing only onerelease actuator 1150.

Once the shaft assembly 2000 has been secured to the handle 1000 and theend effector 7000, for example, has been assembled to the shaft 2000,the clinician can maneuver the handle 1000 to insert the end effector7000 into a patient. In at least one instance, the end effector 7000 isinserted into the patient through a trocar and then manipulated in orderto position the jaw assembly 7100 of the end effector assembly 7000relative to the patient's tissue. Oftentimes, the jaw assembly 7100 mustbe in its closed, or clamped, configuration in order to fit through thetrocar. Once through the trocar, the jaw assembly 7100 can be opened sothat the patient tissue fit between the jaws of the jaw assembly 7100.At such point, the jaw assembly 7100 can be returned to its closedconfiguration to clamp the patient tissue between the jaws. The clampingforce applied to the patient tissue by the jaw assembly 7100 issufficient to move or otherwise manipulate the tissue during a surgicalprocedure. Thereafter, the jaw assembly 7100 can be re-opened to releasethe patient tissue from the end effector 7000. This process can berepeated until it is desirable to remove the end effector 7000 from thepatient. At such point, the jaw assembly 7100 can be returned to itsclosed configuration and retracted through the trocar. Other surgicaltechniques are envisioned in which the end effector 7000 is insertedinto a patient through an open incision, or without the use of thetrocar. In any event, it is envisioned that the jaw assembly 7100 mayhave to be opened and closed several times throughout a surgicaltechnique.

Referring again to FIGS. 3-6, the shaft assembly 2000 further comprisesa clamping trigger system 2600 and a control system 2800. The clampingtrigger system 2600 comprises a clamping trigger 2610 rotatablyconnected to the proximal housing 2110 of the shaft assembly 2000. Asdiscussed below, the clamping trigger 2610 actuates the motor 1610 tooperate the jaw drive of the end effector 7000 when the clamping trigger2610 is actuated. The clamping trigger 2610 comprises an elongateportion which is graspable by the clinician while holding the handle1000. The clamping trigger 2610 further comprises a mounting portion2620 which is pivotably connected to a mounting portion 2120 of theproximal housing 2110 such that the clamping trigger 2610 is rotatableabout a fixed, or an at least substantially fixed, axis. The closuretrigger 2610 is rotatable between a distal position and a proximalposition, wherein the proximal position of the closure trigger 2610 iscloser to the pistol grip of the handle 1000 than the distal position.The closure trigger 2610 further comprises a tab 2615 extendingtherefrom which rotates within the proximal housing 2110. When theclosure trigger 2610 is in its distal position, the tab 2615 ispositioned above, but not in contact with, a switch 2115 mounted on theproximal housing 2110. The switch 2115 is part of an electrical circuitconfigured to detect the actuation of the closure trigger 2610 which isin an open condition the closure trigger 2610 is in its open position.When the closure trigger 2610 is moved into its proximal position, thetab 2615 comes into contact with the switch 2115 and closes theelectrical circuit. In various instances, the switch 2115 can comprise atoggle switch, for example, which is mechanically switched between openand closed states when contacted by the tab 2615 of the closure trigger2610. In certain instances, the switch 2115 can comprise a proximitysensor, for example, and/or any suitable type of sensor. In at least oneinstance, the switch 2115 comprises a Hall Effect sensor which candetect the amount in which the closure trigger 2610 has been rotatedand, based on the amount of rotation, control the speed in which themotor 1610 is operated. In such instances, larger rotations of theclosure trigger 2610 result in faster speeds of the motor 1610 whilesmaller rotations result in slower speeds, for example. In any event,the electrical circuit is in communication with the control system 2800of the shaft assembly 2000, which is discussed in greater detail below.

Further to the above, the control system 2800 of the shaft assembly 2000comprises a printed circuit board (PCB) 2810, at least onemicroprocessor 2820, and at least one memory device 2830. The board 2810can be rigid and/or flexible and can comprise any suitable number oflayers. The microprocessor 2820 and the memory device 2830 are part of acontrol circuit defined on the board 2810 which communicates with thecontrol system 1800 of the handle 1000. The shaft assembly 2000 furthercomprises a signal communication system 2900 and the handle 1000 furthercomprises a signal communication system 1900 which are configured toconvey data between the shaft control system 2800 and the handle controlsystem 1800. The signal communication system 2900 is configured totransmit data to the signal communication system 1900 utilizing anysuitable analog and/or digital components. In various instances, thecommunication systems 2900 and 1900 can communicate using a plurality ofdiscrete channels which allows the input gates of the microprocessor1820 to be directly controlled, at least in part, by the output gates ofthe microprocessor 2820. In some instances, the communication systems2900 and 1900 can utilize multiplexing. In at least one such instance,the control system 2900 includes a multiplexing device that sendsmultiple signals on a carrier channel at the same time in the form of asingle, complex signal to a multiplexing device of the control system1900 that recovers the separate signals from the complex signal.

The communication system 2900 comprises an electrical connector 2910mounted to the circuit board 2810. The electrical connector 2910comprises a connector body and a plurality of electrically-conductivecontacts mounted to the connector body. The electrically-conductivecontacts comprise male pins, for example, which are soldered toelectrical traces defined in the circuit board 2810. In other instances,the male pins can be in communication with circuit board traces throughzero-insertion-force (ZIF) sockets, for example. The communicationsystem 1900 comprises an electrical connector 1910 mounted to thecircuit board 1810. The electrical connector 1910 comprises a connectorbody and a plurality of electrically-conductive contacts mounted to theconnector body. The electrically-conductive contacts comprise femalepins, for example, which are soldered to electrical traces defined inthe circuit board 1810. In other instances, the female pins can be incommunication with circuit board traces through zero-insertion-force(ZIF) sockets, for example. When the shaft assembly 2000 is assembled tothe drive module 1100, the electrical connector 2910 is operably coupledto the electrical connector 1910 such that the electrical contacts formelectrical pathways therebetween. The above being said, the connectors1910 and 2910 can comprise any suitable electrical contacts. Moreover,the communication systems 1900 and 2900 can communicate with one anotherin any suitable manner. In various instances, the communication systems1900 and 2900 communicate wirelessly. In at least one such instance, thecommunication system 2900 comprises a wireless signal transmitter andthe communication system 1900 comprises a wireless signal receiver suchthat the shaft assembly 2000 can wirelessly communicate data to thehandle 1000. Likewise, the communication system 1900 can comprise awireless signal transmitter and the communication system 2900 cancomprise a wireless signal receiver such that the handle 1000 canwirelessly communicate data to the shaft assembly 2000.

As discussed above, the control system 1800 of the handle 1000 is incommunication with, and is configured to control, the electrical powercircuit of the handle 1000. The handle control system 1800 is alsopowered by the electrical power circuit of the handle 1000. The handlecommunication system 1900 is in signal communication with the handlecontrol system 1800 and is also powered by the electrical power circuitof the handle 1000. The handle communication system 1900 is powered bythe handle electrical power circuit via the handle control system 1800,but could be directly powered by the electrical power circuit. As alsodiscussed above, the handle communication system 1900 is in signalcommunication with the shaft communication system 2900. That said, theshaft communication system 2900 is also powered by the handle electricalpower circuit via the handle communication system 1900. To this end, theelectrical connectors 1910 and 2010 connect both one or more signalcircuits and one or more power circuits between the handle 1000 and theshaft assembly 2000. Moreover, the shaft communication system 2900 is insignal communication with the shaft control system 2800, as discussedabove, and is also configured to supply power to the shaft controlsystem 2800. Thus, the control systems 1800 and 2800 and thecommunication systems 1900 and 2900 are all powered by the electricalpower circuit of the handle 1000; however, alternative embodiments areenvisioned in which the shaft assembly 2000 comprises its own powersource, such as one or more batteries, for example, an and electricalpower circuit configured to supply power from the batteries to thehandle systems 2800 and 2900. In at least one such embodiment, thehandle control system 1800 and the handle communication system 1900 arepowered by the handle electrical power system and the shaft controlsystem 2800 and the handle communication system 2900 are powered by theshaft electrical power system.

Further to the above, the actuation of the clamping trigger 2610 isdetected by the shaft control system 2800 and communicated to the handlecontrol system 1800 via the communication systems 2900 and 1900. Uponreceiving a signal that the clamping trigger 2610 has been actuated, thehandle control system 1800 supplies power to the electric motor 1610 ofthe motor assembly 1600 to rotate the drive shaft 1710 of the handledrive system 1700, and the drive shaft 2710 of the shaft drive system2700, in a direction which closes the jaw assembly 7100 of the endeffector 7000. The mechanism for converting the rotation of the driveshaft 2710 to a closure motion of the jaw assembly 7100 is discussed ingreater detail below. So long as the clamping trigger 2610 is held inits actuated position, the electric motor 1610 will rotate the driveshaft 1710 until the jaw assembly 7100 reaches its fully-clampedposition. When the jaw assembly 7100 reaches its fully-clamped position,the handle control system 1800 cuts the electrical power to the electricmotor 1610. The handle control system 1800 can determine when the jawassembly 7100 has reached its fully-clamped position in any suitablemanner. For instance, the handle control system 1800 can comprise anencoder system which monitors the rotation of, and counts the rotationsof, the output shaft of the electric motor 1610 and, once the number ofrotations reaches a predetermined threshold, the handle control system1800 can discontinue supplying power to the electric motor 1610. In atleast one instance, the end effector assembly 7000 can comprise one ormore sensors configured to detect when the jaw assembly 7100 has reachedits fully-clamped position. In at least one such instance, the sensorsin the end effector 7000 are in signal communication with the handlecontrol system 1800 via electrical circuits extending through the shaftassembly 2000 which can include the electrical contacts 1520 and 2520,for example.

When the clamping trigger 2610 is rotated distally out of its proximalposition, the switch 2115 is opened which is detected by the shaftcontrol system 2800 and communicated to the handle control system 1800via the communication systems 2900 and 1900. Upon receiving a signalthat the clamping trigger 2610 has been moved out of its actuatedposition, the handle control system 1800 reverses the polarity of thevoltage differential being applied to the electric motor 1610 of themotor assembly 1600 to rotate the drive shaft 1710 of the handle drivesystem 1700, and the drive shaft 2710 of the shaft drive system 2700, inan opposite direction which, as a result, opens the jaw assembly 7100 ofthe end effector 7000. When the jaw assembly 7100 reaches its fully-openposition, the handle control system 1800 cuts the electrical power tothe electric motor 1610. The handle control system 1800 can determinewhen the jaw assembly 7100 has reached its fully-open position in anysuitable manner. For instance, the handle control system 1800 canutilize the encoder system and/or the one or more sensors describedabove to determine the configuration of the jaw assembly 7100. In viewof the above, the clinician needs to be mindful about holding theclamping trigger 2610 in its actuated position in order to maintain thejaw assembly 7100 in its clamped configuration as, otherwise, thecontrol system 1800 will open jaw assembly 7100. With this in mind, theshaft assembly 2000 further comprises an actuator latch 2630 configuredto releasably hold the clamping trigger 2610 in its actuated position toprevent the accidental opening of the jaw assembly 7100. The actuatorlatch 2630 can be manually released, or otherwise defeated, by theclinician to allow the clamping trigger 2610 to be rotated distally andopen the jaw assembly 7100.

The clamping trigger system 2600 further comprises a resilient biasingmember, such as a torsion spring, for example, configured to resist theclosure of the clamping trigger system 2600. The torsion spring can alsoassist in reducing and/or mitigating sudden movements and/or jitter ofthe clamping trigger 2610. Such a torsion spring can also automaticallyreturn the clamping trigger 2610 to its unactuated position when theclamping trigger 2610 is released. The actuator latch 2630 discussedabove can suitably hold the clamping trigger 2610 in its actuatedposition against the biasing force of the torsion spring.

As discussed above, the control system 1800 operates the electric motor1610 to open and close the jaw assembly 7100. The control system 1800 isconfigured to open and close the jaw assembly 7100 at the same speed. Insuch instances, the control system 1800 applies the same voltage pulsesto the electric motor 1610, albeit with different voltage polarities,when opening and closing the jaw assembly 7100. That said, the controlsystem 1800 can be configured to open and close the jaw assembly 7100 atdifferent speeds. For instance, the jaw assembly 7100 can be closed at afirst speed and opened at a second speed which is faster than the firstspeed. In such instances, the slower closing speed affords the clinicianan opportunity to better position the jaw assembly 7100 while clampingthe tissue. Alternatively, the control system 1800 can open the jawassembly 7100 at a slower speed. In such instances, the slower openingspeed reduces the possibility of the opening jaws colliding withadjacent tissue. In either event, the control system 1800 can decreasethe duration of the voltage pulses and/or increase the duration betweenthe voltage pulses to slow down and/or speed up the movement of the jawassembly 7100.

As discussed above, the control system 1800 is configured to interpretthe position of the clamping trigger 2610 as a command to position thejaw assembly 7100 in a specific configuration. For instance, the controlsystem 1800 is configured to interpret the proximal-most position of theclamping trigger 2610 as a command to close the jaw assembly 7100 andany other position of the clamping trigger as a command to open the jawassembly 7100. That said, the control system 1800 can be configured tointerpret the position of the clamping trigger 2610 in a proximal rangeof positions, instead of a single position, as a command to close thejaw assembly 7100. Such an arrangement can allow the jaw assembly 7000to be better responsive to the clinician's input. In such instances, therange of motion of the clamping trigger 2610 is divided into ranges—aproximal range which is interpreted as a command to close the jawassembly 7100 and a distal range which is interpreted as a command toopen the jaw assembly 7100. In at least one instance, the range ofmotion of the clamping trigger 2610 can have an intermediate rangebetween the proximal range and the distal range. When the clampingtrigger 2610 is in the intermediate range, the control system 1800 caninterpret the position of the clamping trigger 2610 as a command toneither open nor close the jaw assembly 7100. Such an intermediate rangecan prevent, or reduce the possibility of, jitter between the openingand closing ranges. In the instances described above, the control system1800 can be configured to ignore cumulative commands to open or closethe jaw assembly 7100. For instance, if the closure trigger 2610 hasalready been fully retracted into its proximal-most position, thecontrol assembly 1800 can ignore the motion of the clamping trigger 2610in the proximal, or clamping, range until the clamping trigger 2610enters into the distal, or opening, range wherein, at such point, thecontrol system 1800 can then actuate the electric motor 1610 to open thejaw assembly 7100.

In certain instances, further to the above, the position of the clampingtrigger 2610 within the clamping trigger range, or at least a portion ofthe clamping trigger range, can allow the clinician to control the speedof the electric motor 1610 and, thus, the speed in which the jawassembly 7100 is being opened or closed by the control assembly 1800. Inat least one instance, the sensor 2115 comprises a Hall Effect sensor,and/or any other suitable sensor, configured to detect the position ofthe clamping trigger 2610 between its distal, unactuated position andits proximal, fully-actuated position. The Hall Effect sensor isconfigured to transmit a signal to the handle control system 1800 viathe shaft control system 2800 such that the handle control system 1800can control the speed of the electric motor 1610 in response to theposition of the clamping trigger 2610. In at least one instance, thehandle control system 1800 controls the speed of the electric motor 1610proportionately, or in a linear manner, to the position of the clampingtrigger 2610. For example, if the clamping trigger 2610 is moved halfway through its range, then the handle control system 1800 will operatethe electric motor 1610 at half of the speed in which the electric motor1610 is operated when the clamping trigger 2610 is fully-retracted.Similarly, if the clamping trigger 2610 is moved a quarter way throughits range, then the handle control system 1800 will operate the electricmotor 1610 at a quarter of the speed in which the electric motor 1610 isoperated when the clamping trigger 2610 is fully-retracted. Otherembodiments are envisioned in which the handle control system 1800controls the speed of the electric motor 1610 in a non-linear manner tothe position of the clamping trigger 2610. In at least one instance, thecontrol system 1800 operates the electric motor 1610 slowly in thedistal portion of the clamping trigger range while quickly acceleratingthe speed of the electric motor 1610 in the proximal portion of theclamping trigger range.

As described above, the clamping trigger 2610 is movable to operate theelectric motor 1610 to open or close the jaw assembly 7100 of the endeffector 7000. The electric motor 1610 is also operable to rotate theend effector 7000 about a longitudinal axis and articulate the endeffector 7000 relative to the elongate shaft 2200 about the articulationjoint 2300 of the shaft assembly 2000. Referring primarily to FIGS. 7and 8, the drive module 1100 comprises an input system 1400 including arotation actuator 1420 and an articulation actuator 1430. The inputsystem 1400 further comprises a printed circuit board (PCB) 1410 whichis in signal communication with the printed circuit board (PCB) 1810 ofthe control system 1800. The drive module 1100 comprises an electricalcircuit, such as a flexible wiring harness or ribbon, for example, whichpermits the input system 1400 to communicate with the control system1800. The rotation actuator 1420 is rotatably supported on the housing1110 and is in signal communication with the input board 1410 and/orcontrol board 1810, as described in greater detail below. Thearticulation actuator 1430 is supported by and in signal communicationwith the input board 1410 and/or control board 1810, as also describedin greater detail below.

Referring primarily to FIGS. 8, 10, and 11, further to the above, thehandle housing 1110 comprises an annular groove or slot defined thereinadjacent the distal mounting interface 1130. The rotation actuator 1420comprises an annular ring 1422 rotatably supported within the annulargroove and, owing to the configuration of the sidewalls of the annulargroove, the annular ring 1422 is constrained from translatinglongitudinally and/or laterally with respect to the handle housing 1110.The annular ring 1422 is rotatable in a first, or clockwise, directionand a second, or counter-clockwise direction, about a longitudinal axisextending through the frame 1500 of the drive module 1100. The rotationactuator 1420 comprises one or more sensors configured to detect therotation of the annular ring 1422. In at least one instance, therotation actuator 1420 comprises a first sensor positioned on a firstside of the drive module 1100 and a second sensor positioned on asecond, or opposite, side of the drive module 1100 and the annular ring1422 comprises a detectable element which is detectable by the first andsecond sensors. The first sensor is configured to detect when theannular ring 1422 is rotated in the first direction and the secondsensor is configured to detect when the annular ring 1422 is rotated inthe second direction. When the first sensor detects that the annularring 1422 is rotated in the first direction, the handle control system1800 rotates the handle drive shaft 1710, the drive shaft 2710, and theend effector 7000 in the first direction, as described in greater detailbelow. Similarly, the handle control system 1800 rotates the handledrive shaft 1710, the drive shaft 2710, and the end effector 7000 in thesecond direction when the second sensor detects that the annular ring1422 is rotated in the second direction. In view of the above, thereader should appreciate that the clamping trigger 2610 and the rotationactuator 1420 are both operable to rotate the drive shaft 2710.

In various embodiments, further to the above, the first and secondsensors comprise switches which are mechanically closable by thedetectable element of the annular ring 1422. When the annular ring 1422is rotated in the first direction from a center position, the detectableelement closes the switch of the first sensor. When the switch of thefirst sensor is closed, the control system 1800 operates the electricmotor 1610 to rotate the end effector 7000 in the first direction. Whenthe annular ring 1422 is rotated in the second direction toward thecenter position, the detectable element is disengaged from the firstswitch and the first switch is re-opened. Once the first switch isre-opened, the control system 1800 cuts the power to the electric motor1610 to stop the rotation of the end effector 7000. Similarly, thedetectable element closes the switch of the second sensor when theannular ring 1422 is rotated in the second direction from the centerposition. When the switch of the second sensor is closed, the controlsystem 1800 operates the electric motor 1610 to rotate the end effector7000 in the second direction. When the annular ring 1422 is rotated inthe first direction toward the center position, the detectable elementis disengaged from the second switch and the second switch is re-opened.Once the second switch is re-opened, the control system 1800 cuts thepower to the electric motor 1610 to stop the rotation of the endeffector 7000.

In various embodiments, further to the above, the first and secondsensors of the rotation actuator 1420 comprise proximity sensors, forexample. In certain embodiments, the first and second sensors of therotation actuator 1420 comprise Hall Effect sensors, and/or any suitablesensors, configured to detect the distance between the detectableelement of the annular ring 1422 and the first and second sensors. Ifthe first Hall Effect sensor detects that the annular ring 1422 has beenrotated in the first direction, then, as discussed above, the controlsystem 1800 will rotate the end effector 7000 in the first direction. Inaddition, the control system 1800 can rotate the end effector 7000 at afaster speed when the detectable element is closer to the first HallEffect sensor than when the detectable element is further away from thefirst Hall Effect sensor. If the second Hall Effect sensor detects thatthe annular ring 1422 has been rotated in the second direction, then, asdiscussed above, the control system 1800 will rotate the end effector7000 in the second direction. In addition, the control system 1800 canrotate the end effector 7000 at a faster speed when the detectableelement is closer to the second Hall Effect sensor than when thedetectable element is further away from the second Hall Effect sensor.As a result, the speed in which the end effector 7000 is rotated is afunction of the amount, or degree, in which the annular ring 1422 isrotated. The control system 1800 is further configured to evaluate theinputs from both the first and second Hall Effect sensors whendetermining the direction and speed in which to rotate the end effector7000. In various instances, the control system 1800 can use the closestHall Effect sensor to the detectable element of the annular ring 1422 asa primary source of data and the Hall Effect sensor furthest away fromthe detectable element as a confirmational source of data todouble-check the data provided by the primary source of data. Thecontrol system 1800 can further comprise a data integrity protocol toresolve situations in which the control system 1800 is provided withconflicting data. In any event, the handle control system 1800 can enterinto a neutral state in which the handle control system 1800 does notrotate the end effector 7000 when the Hall Effect sensors detect thatthe detectable element is in its center position, or in a position whichis equidistant between the first Hall Effect sensor and the second HallEffect sensor. In at least one such instance, the control system 1800can enter into its neutral state when the detectable element is in acentral range of positions. Such an arrangement would prevent, or atleast reduce the possibility of, rotational jitter when the clinician isnot intending to rotate the end effector 7000.

Further to the above, the rotation actuator 1420 can comprise one ormore springs configured to center, or at least substantially center, therotation actuator 1420 when it is released by the clinician. In suchinstances, the springs can act to shut off the electric motor 1610 andstop the rotation of the end effector 7000. In at least one instance,the rotation actuator 1420 comprises a first torsion spring configuredto rotate the rotation actuator 1420 in the first direction and a secondtorsion spring configured to rotate the rotation actuator 1420 in thesecond direction. The first and second torsion springs can have thesame, or at least substantially the same, spring constant such that theforces and/or torques applied by the first and second torsion springsbalance, or at least substantially balance, the rotation actuator 1420in its center position.

In view of the above, the reader should appreciate that the clampingtrigger 2610 and the rotation actuator 1420 are both operable to rotatethe drive shaft 2710 and either, respectively, operate the jaw assembly7100 or rotate the end effector 7000. The system that uses the rotationof the drive shaft 2710 to selectively perform these functions isdescribed in greater detail below.

Referring to FIGS. 7 and 8, the articulation actuator 1430 comprises afirst push button 1432 and a second push button 1434. The first pushbutton 1432 is part of a first articulation control circuit and thesecond push button 1434 is part of a second articulation circuit of theinput system 1400. The first push button 1432 comprises a first switchthat is closed when the first push button 1432 is depressed. The handlecontrol system 1800 is configured to sense the closure of the firstswitch and, moreover, the closure of the first articulation controlcircuit. When the handle control system 1800 detects that the firstarticulation control circuit has been closed, the handle control system1800 operates the electric motor 1610 to articulate the end effector7000 in a first articulation direction about the articulation joint2300. When the first push button 1432 is released by the clinician, thefirst articulation control circuit is opened which, once detected by thecontrol system 1800, causes the control system 1800 to cut the power tothe electric motor 1610 to stop the articulation of the end effector7000.

In various instances, further to the above, the articulation range ofthe end effector 7000 is limited and the control system 1800 can utilizethe encoder system discussed above for monitoring the rotational outputof the electric motor 1610, for example, to monitor the amount, ordegree, in which the end effector 7000 is rotated in the firstdirection. In addition to or in lieu of the encoder system, the shaftassembly 2000 can comprise a first sensor configured to detect when theend effector 7000 has reached the limit of its articulation in the firstdirection. In any event, when the control system 1800 determines thatthe end effector 7000 has reached the limit of articulation in the firstdirection, the control system 1800 can cut the power to the electricmotor 1610 to stop the articulation of the end effector 7000.

Similar to the above, the second push button 1434 comprises a secondswitch that is closed when the second push button 1434 is depressed. Thehandle control system 1800 is configured to sense the closure of thesecond switch and, moreover, the closure of the second articulationcontrol circuit. When the handle control system 1800 detects that thesecond articulation control circuit has been closed, the handle controlsystem 1800 operates the electric motor 1610 to articulate the endeffector 7000 in a second direction about the articulation joint 2300.When the second push button 1434 is released by the clinician, thesecond articulation control circuit is opened which, once detected bythe control system 1800, causes the control system 1800 to cut the powerto the electric motor 1610 to stop the articulation of the end effector7000.

In various instances, the articulation range of the end effector 7000 islimited and the control system 1800 can utilize the encoder systemdiscussed above for monitoring the rotational output of the electricmotor 1610, for example, to monitor the amount, or degree, in which theend effector 7000 is rotated in the second direction. In addition to orin lieu of the encoder system, the shaft assembly 2000 can comprise asecond sensor configured to detect when the end effector 7000 hasreached the limit of its articulation in the second direction. In anyevent, when the control system 1800 determines that the end effector7000 has reached the limit of articulation in the second direction, thecontrol system 1800 can cut the power to the electric motor 1610 to stopthe articulation of the end effector 7000.

As described above, the end effector 7000 is articulatable in a firstdirection (FIG. 16) and/or a second direction (FIG. 17) from a center,or unarticulated, position (FIG. 15). Once the end effector 7000 hasbeen articulated, the clinician can attempt to re-center the endeffector 7000 by using the first and second articulation push buttons1432 and 1434. As the reader can appreciate, the clinician may struggleto re-center the end effector 7000 as, for instance, the end effector7000 may not be entirely visible once it is positioned in the patient.In some instances, the end effector 7000 may not fit back through atrocar if the end effector 7000 is not re-centered, or at leastsubstantially re-centered. With that in mind, the control system 1800 isconfigured to provide feedback to the clinician when the end effector7000 is moved into its unarticulated, or centered, position. In at leastone instance, the feedback comprises audio feedback and the handlecontrol system 1800 can comprise a speaker which emits a sound, such asa beep, for example, when the end effector 7000 is centered. In certaininstances, the feedback comprises visual feedback and the handle controlsystem 1800 can comprise a light emitting diode (LED), for example,positioned on the handle housing 1110 which flashes when the endeffector 7000 is centered. In various instances, the feedback compriseshaptic feedback and the handle control system 1800 can comprise anelectric motor comprising an eccentric element which vibrates the handle1000 when the end effector 7000 is centered. Manually re-centering theend effector 7000 in this way can be facilitated by the control system1800 slowing the motor 1610 when the end effector 7000 is approachingits centered position. In at least one instance, the control system 1800slows the articulation of the end effector 7000 when the end effector7000 is within approximately 5 degrees of center in either direction,for example.

In addition to or in lieu of the above, the handle control system 1800can be configured to re-center the end effector 7000. In at least onesuch instance, the handle control system 1800 can re-center the endeffector 7000 when both of the articulation buttons 1432 and 1434 of thearticulation actuator 1430 are depressed at the same time. When thehandle control system 1800 comprises an encoder system configured tomonitor the rotational output of the electric motor 1610, for example,the handle control system 1800 can determine the amount and direction ofarticulation needed to re-center, or at least substantially re-center,the end effector 7000. In various instances, the input system 1400 cancomprise a home button, for example, which, when depressed,automatically centers the end effector 7000.

Referring primarily to FIGS. 5 and 6, the elongate shaft 2200 of theshaft assembly 2000 comprises an outer housing, or tube, 2210 mounted tothe proximal housing 2110 of the proximal portion 2100. The outerhousing 2210 comprises a longitudinal aperture 2230 extendingtherethrough and a proximal flange 2220 which secures the outer housing2210 to the proximal housing 2110. The frame 2500 of the shaft assembly2000 extends through the longitudinal aperture 2230 of the elongateshaft 2200. More specifically, the shaft 2510 of the shaft frame 2500necks down into a smaller shaft 2530 which extends through thelongitudinal aperture 2230. That said, the shaft frame 2500 can compriseany suitable arrangement. The drive system 2700 of the shaft assembly2000 also extends through the longitudinal aperture 2230 of the elongateshaft 2200. More specifically, the drive shaft 2710 of the shaft drivesystem 2700 necks down into a smaller drive shaft 2730 which extendsthrough the longitudinal aperture 2230. That said, the shaft drivesystem 2700 can comprise any suitable arrangement.

Referring primarily to FIGS. 20, 23, and 24, the outer housing 2210 ofthe elongate shaft 2200 extends to the articulation joint 2300. Thearticulation joint 2300 comprises a proximal frame 2310 mounted to theouter housing 2210 such that there is little, if any, relativetranslation and/or rotation between the proximal frame 2310 and theouter housing 2210. Referring primarily to FIG. 22, the proximal frame2310 comprises an annular portion 2312 mounted to the sidewall of theouter housing 2210 and tabs 2314 extending distally from the annularportion 2312. The articulation joint 2300 further comprises links 2320and 2340 which are rotatably mounted to the frame 2310 and mounted to anouter housing 2410 of the distal attachment portion 2400. The link 2320comprises a distal end 2322 mounted to the outer housing 2410. Morespecifically, the distal end 2322 of the link 2320 is received andfixedly secured within a mounting slot 2412 defined in the outer housing2410. Similarly, the link 2340 comprises a distal end 2342 mounted tothe outer housing 2410. More specifically, the distal end 2342 of thelink 2340 is received and fixedly secured within a mounting slot definedin the outer housing 2410. The link 2320 comprises a proximal end 2324rotatably coupled to a tab 2314 of the proximal articulation frame 2310.Although not illustrated in FIG. 22, a pin extends through aperturesdefined in the proximal end 2324 and the tab 2314 to define a pivot axistherebetween. Similarly, the link 2340 comprises a proximal end 2344rotatably coupled to a tab 2314 of the proximal articulation frame 2310.Although not illustrated in FIG. 22, a pin extends through aperturesdefined in the proximal end 2344 and the tab 2314 to define a pivot axistherebetween. These pivot axes are collinear, or at least substantiallycollinear, and define an articulation axis A of the articulation joint2300.

Referring primarily to FIGS. 20, 23, and 24, the outer housing 2410 ofthe distal attachment portion 2400 comprises a longitudinal aperture2430 extending therethrough. The longitudinal aperture 2430 isconfigured to receive a proximal attachment portion 7400 of the endeffector 7000. The end effector 7000 comprises an outer housing 6230which is closely received within the longitudinal aperture 2430 of thedistal attachment portion 2400 such that there is little, if any,relative radial movement between the proximal attachment portion 7400 ofthe end effector 7000 and the distal attachment portion 2400 of theshaft assembly 2000. The proximal attachment portion 7400 furthercomprises an annular array of lock notches 7410 defined on the outerhousing 6230 which is releasably engaged by an end effector lock 6400 inthe distal attachment portion 2400 of the shaft assembly 2000. When theend effector lock 6400 is engaged with the array of lock notches 7410,the end effector lock 6400 prevents, or at least inhibits, relativelongitudinal movement between the proximal attachment portion 7400 ofthe end effector 7000 and the distal attachment portion 2400 of theshaft assembly 2000. As a result of the above, only relative rotationbetween the proximal attachment portion 7400 of the end effector 7000and the distal attachment portion 2400 of the shaft assembly 2000 ispermitted. To this end, the outer housing 6230 of the end effector 7000is closely received within the longitudinal aperture 2430 defined in thedistal attachment portion 2400 of the shaft assembly 2000.

Further to the above, referring to FIG. 21, the outer housing 6230further comprises an annular slot, or recess, 6270 defined therein whichis configured to receive an O-ring 6275 therein. The O-ring 6275 iscompressed between the outer housing 6230 and the sidewall of thelongitudinal aperture 2430 when the end effector 7000 is inserted intothe distal attachment portion 2400. The O-ring 6275 is configured toresist, but permit, relative rotation between the end effector 7000 andthe distal attachment portion 2400 such that the O-ring 6275 canprevent, or reduce the possibility of, unintentional relative rotationbetween the end effector 7000 and the distal attachment portion 2400. Invarious instances, the O-ring 6275 can provide a seal between the endeffector 7000 and the distal attachment portion 2400 to prevent, or atleast reduce the possibility of, fluid ingress into the shaft assembly2000, for example.

Referring to FIGS. 14-21, the jaw assembly 7100 of the end effector 7000comprises a first jaw 7110 and a second jaw 7120. Each jaw 7110, 7120comprises a distal end which is configured to assist a clinician indissecting tissue with the end effector 7000. Each jaw 7110, 7120further comprises a plurality of teeth which are configured to assist aclinician in grasping and holding onto tissue with the end effector7000. Moreover, referring primarily to FIG. 21, each jaw 7110, 7120comprises a proximal end, i.e., proximal ends 7115, 7125, respectively,which rotatably connect the jaws 7110, 7120 together. Each proximal end7115, 7125 comprises an aperture extending therethrough which isconfigured to closely receive a pin 7130 therein. The pin 7130 comprisesa central body 7135 closely received within the apertures defined in theproximal ends 7115, 7125 of the jaws 7110, 7120 such that there islittle, if any, relative translation between the jaws 7110, 7120 and thepin 7130. The pin 7130 defines a jaw axis J about which the jaws 7110,7120 can be rotated and, also, rotatably mounts the jaws 7110, 7120 tothe outer housing 6230 of the end effector 7000. More specifically, theouter housing 6230 comprises distally-extending tabs 6235 havingapertures defined therein which are also configured to closely receivethe pin 7130 such that the jaw assembly 7100 does not translate relativeto a shaft portion 7200 of the end effector 7000. The pin 7130 furthercomprises enlarged ends which prevent the jaws 7110, 7120 from becomingdetached from the pin 7130 and also prevents the jaw assembly 7100 frombecoming detached from the shaft portion 7200. This arrangement definesa rotation joint 7300.

Referring primarily to FIGS. 21 and 23, the jaws 7110 and 7120 arerotatable between their open and closed positions by a jaw assemblydrive including drive links 7140, a drive nut 7150, and a drive screw6130. As described in greater detail below, the drive screw 6130 isselectively rotatable by the drive shaft 2730 of the shaft drive system2700. The drive screw 6130 comprises an annular flange 6132 which isclosely received within a slot, or groove, 6232 (FIG. 25) defined in theouter housing 6230 of the end effector 7000. The sidewalls of the slot6232 are configured to prevent, or at least inhibit, longitudinal and/orradial translation between the drive screw 6130 and the outer housing6230, but yet permit relative rotational motion between the drive screw6130 and the outer housing 6230. The drive screw 6130 further comprisesa threaded end 6160 which is threadably engaged with a threaded aperture7160 defined in the drive nut 7150. The drive nut 7150 is constrainedfrom rotating with the drive screw 6130 and, as a result, the drive nut7150 is translated when the drive screw 6130 is rotated. In use, thedrive screw 6130 is rotated in a first direction to displace the drivenut 7150 proximally and in a second, or opposite, direction to displacethe drive nut 7150 distally. The drive nut 7150 further comprises adistal end 7155 comprising an aperture defined therein which isconfigured to closely receive pins 7145 extending from the drive links7140. Referring primarily to FIG. 21, a first drive link 7140 isattached to one side of the distal end 7155 and a second drive link 7140is attached to the opposite side of the distal end 7155. The first drivelink 7140 comprises another pin 7145 extending therefrom which isclosely received in an aperture defined in the proximal end 7115 of thefirst jaw 7110 and, similarly, the second drive link 7140 comprisesanother pin extending therefrom which is closely received in an aperturedefined in the proximal end 7125 of the second jaw 7120. As a result ofthe above, the drive links 7140 operably connect the jaws 7110 and 7120to the drive nut 7150. When the drive nut 7150 is driven proximally bythe drive screw 6130, as described above, the jaws 7110, 7120 arerotated into the closed, or clamped, configuration. Correspondingly, thejaws 7110, 7120 are rotated into their open configuration when the drivenut 7150 is driven distally by the drive screw 6130.

As discussed above, the control system 1800 is configured to actuate theelectric motor 1610 to perform three different end effectorfunctions—clamping/opening the jaw assembly 7100 (FIGS. 14 and 15),rotating the end effector 7000 about a longitudinal axis (FIGS. 18 and19), and articulating the end effector 7000 about an articulation axis(FIGS. 16 and 17). Referring primarily to FIGS. 26 and 27, the controlsystem 1800 is configured to operate a transmission 6000 to selectivelyperform these three end effector functions. The transmission 6000comprises a first clutch system 6100 configured to selectively transmitthe rotation of the drive shaft 2730 to the drive screw 6130 of the endeffector 7000 to open or close the jaw assembly 7100, depending on thedirection in which the drive shaft 2730 is rotated. The transmission6000 further comprises a second clutch system 6200 configured toselectively transmit the rotation of the drive shaft 2730 to the outerhousing 6230 of the end effector 7000 to rotate the end effector 7000about the longitudinal axis L. The transmission 6000 also comprises athird clutch system 6300 configured to selectively transmit the rotationof the drive shaft 2730 to the articulation joint 2300 to articulate thedistal attachment portion 2400 and the end effector 7000 about thearticulation axis A. The clutch systems 6100, 6200, and 6300 are inelectrical communication with the control system 1800 via electricalcircuits extending through the shaft 2510, the connector pins 2520, theconnector pins 1520, and the shaft 1510, for example. In at least oneinstance, each of these clutch control circuits comprises two connectorpins 2520 and two connector pins 1520, for example.

In various instances, further to the above, the shaft 2510 and/or theshaft 1510 comprise a flexible circuit including electrical traces whichform part of the clutch control circuits. The flexible circuit cancomprise a ribbon, or substrate, with conductive pathways definedtherein and/or thereon. The flexible circuit can also comprise sensorsand/or any solid state component, such as signal smoothing capacitors,for example, mounted thereto. In at least one instance, each of theconductive pathways can comprise one or more signal smoothing capacitorswhich can, among other things, even out fluctuations in signalstransmitted through the conductive pathways. In various instances, theflexible circuit can be coated with at least one material, such as anelastomer, for example, which can seal the flexible circuit againstfluid ingress.

Referring primarily to FIG. 28, the first clutch system 6100 comprises afirst clutch 6110, an expandable first drive ring 6120, and a firstelectromagnetic actuator 6140. The first clutch 6110 comprises anannular ring and is slideably disposed on the drive shaft 2730. Thefirst clutch 6110 is comprised of a magnetic material and is movablebetween a disengaged, or unactuated, position (FIG. 28) and an engaged,or actuated, position (FIG. 29) by electromagnetic fields EF generatedby the first electromagnetic actuator 6140. In various instances, thefirst clutch 6110 is at least partially comprised of iron and/or nickel,for example. In at least one instance, the first clutch 6110 comprises apermanent magnet. As illustrated in FIG. 22A, the drive shaft 2730comprises one or more longitudinal key slots 6115 defined therein whichare configured to constrain the longitudinal movement of the clutch 6110relative to the drive shaft 2730. More specifically, the clutch 6110comprises one or more keys extending into the key slots 6115 such thatthe distal ends of the key slots 6115 stop the distal movement of theclutch 6110 and the proximal ends of the key slots 6115 stop theproximal movement of the clutch 6110.

When the first clutch 6110 is in its disengaged position (FIG. 28), thefirst clutch 6110 rotates with the drive shaft 2130 but does nottransmit rotational motion to the first drive ring 6120. As can be seenin FIG. 28, the first clutch 6110 is separated from, or not in contactwith, the first drive ring 6120. As a result, the rotation of the driveshaft 2730 and the first clutch 6110 is not transmitted to the drivescrew 6130 when the first clutch assembly 6100 is in its disengagedstate. When the first clutch 6110 is in its engaged position (FIG. 29),the first clutch 6110 is engaged with the first drive ring 6120 suchthat the first drive ring 6120 is expanded, or stretched, radiallyoutwardly into contact with the drive screw 6130. In at least oneinstance, the first drive ring 6120 comprises an elastomeric band, forexample. As can be seen in FIG. 29, the first drive ring 6120 iscompressed against an annular inner sidewall 6135 of the drive screw6130. As a result, the rotation of the drive shaft 2730 and the firstclutch 6110 is transmitted to the drive screw 6130 when the first clutchassembly 6100 is in its engaged state. Depending on the direction inwhich the drive shaft 2730 is rotated, the first clutch assembly 6100can move the jaw assembly 7100 into its open and closed configurationswhen the first clutch assembly 6100 is in its engaged state.

As described above, the first electromagnetic actuator 6140 isconfigured to generate magnetic fields to move the first clutch 6110between its disengaged (FIG. 28) and engaged (FIG. 29) positions. Forinstance, referring to FIG. 28, the first electromagnetic actuator 6140is configured to emit a magnetic field EF_(L) which repulses, or drives,the first clutch 6110 away from the first drive ring 6120 when the firstclutch assembly 6100 is in its disengaged state. The firstelectromagnetic actuator 6140 comprises one or more wound coils in acavity defined in the shaft frame 2530 which generate the magnetic fieldEF_(L) when current flows in a first direction through a firstelectrical clutch circuit including the wound coils. The control system1800 is configured to apply a first voltage polarity to the firstelectrical clutch circuit to create the current flowing in the firstdirection. The control system 1800 can continuously apply the firstvoltage polarity to the first electric shaft circuit to continuouslyhold the first clutch 6110 in its disengaged position. While such anarrangement can prevent the first clutch 6110 from unintentionallyengaging the first drive ring 6120, such an arrangement can also consumea lot of power. Alternatively, the control system 1800 can apply thefirst voltage polarity to the first electrical clutch circuit for asufficient period of time to position the first clutch 6110 in itsdisengaged position and then discontinue applying the first voltagepolarity to the first electric clutch circuit, thereby resulting in alower consumption of power. That being said, the first clutch assembly6100 further comprises a first clutch lock 6150 mounted in the drivescrew 6130 which is configured to releasably hold the first clutch 6110in its disengaged position. The first clutch lock 6150 is configured toprevent, or at least reduce the possibility of, the first clutch 6110from becoming unintentionally engaged with the first drive ring 6120.When the first clutch 6110 is in its disengaged position, as illustratedin FIG. 28, the first clutch lock 6150 interferes with the free movementof the first clutch 6110 and holds the first clutch 6110 in position viaa friction force and/or an interference force therebetween. In at leastone instance, the first clutch lock 6150 comprises an elastomeric plug,seat, or detent, comprised of rubber, for example. In certain instances,the first clutch lock 6150 comprises a permanent magnet which holds thefirst clutch 6110 in its disengaged position by an electromagneticforce. In any event, the first electromagnetic actuator 6140 can applyan electromagnetic pulling force to the first clutch 6110 that overcomesthese forces, as described in greater detail below.

Further to the above, referring to FIG. 29, the first electromagneticactuator 6140 is configured to emit a magnetic field EF_(D) which pulls,or drives, the first clutch 6110 toward the first drive ring 6120 whenthe first clutch assembly 6100 is in its engaged state. The coils of thefirst electromagnetic actuator 6140 generate the magnetic field EF_(D)when current flows in a second, or opposite, direction through the firstelectrical clutch circuit. The control system 1800 is configured toapply an opposite voltage polarity to the first electrical clutchcircuit to create the current flowing in the opposite direction. Thecontrol system 1800 can continuously apply the opposite voltage polarityto the first electrical clutch circuit to continuously hold the firstclutch 6110 in its engaged position and maintain the operable engagementbetween the first drive ring 6120 and the drive screw 6130.Alternatively, the first clutch 6110 can be configured to become wedgedwithin the first drive ring 6120 when the first clutch 6110 is in itsengaged position and, in such instances, the control system 1800 may notneed to continuously apply a voltage polarity to the first electricalclutch circuit to hold the first clutch assembly 6100 in its engagedstate. In such instances, the control system 1800 can discontinueapplying the voltage polarity once the first clutch 6110 has beensufficiently wedged in the first drive ring 6120.

Notably, further to the above, the first clutch lock 6150 is alsoconfigured to lockout the jaw assembly drive when the first clutch 6110is in its disengaged position. More specifically, referring again toFIG. 28, the first clutch 6110 pushes the first clutch lock 6150 in thedrive screw 6130 into engagement with the outer housing 6230 of the endeffector 7000 when the first clutch 6110 is in its disengaged positionsuch that the drive screw 6130 does not rotate, or at leastsubstantially rotate, relative to the outer housing 6230. The outerhousing 6230 comprises a slot 6235 defined therein which is configuredto receive the first clutch lock 6150. When the first clutch 6110 ismoved into its engaged position, referring to FIG. 29, the first clutch6110 is no longer engaged with the first clutch lock 6150 and, as aresult, the first clutch lock 6150 is no longer biased into engagementwith the outer housing 6230 and the drive screw 6130 can rotate freelywith respect to the outer housing 6230. As a result of the above, thefirst clutch 6110 can do at least two things—operate the jaw drive whenthe first clutch 6110 is in its engaged position and lock out the jawdrive when the first clutch 6110 is in its disengaged position.

Moreover, further to the above, the threads of the threaded portions6160 and 7160 can be configured to prevent, or at least resist,backdriving of the jaw drive. In at least one instance, the thread pitchand/or angle of the threaded portions 6160 and 7160, for example, can beselected to prevent the backdriving, or unintentional opening, of thejaw assembly 7100. As a result of the above, the possibility of the jawassembly 7100 unintentionally opening or closing is prevented, or atleast reduced.

Referring primarily to FIG. 30, the second clutch system 6200 comprisesa second clutch 6210, an expandable second drive ring 6220, and a secondelectromagnetic actuator 6240. The second clutch 6210 comprises anannular ring and is slideably disposed on the drive shaft 2730. Thesecond clutch 6210 is comprised of a magnetic material and is movablebetween a disengaged, or unactuated, position (FIG. 30) and an engaged,or actuated, position (FIG. 31) by electromagnetic fields EF generatedby the second electromagnetic actuator 6240. In various instances, thesecond clutch 6210 is at least partially comprised of iron and/ornickel, for example. In at least one instance, the second clutch 6210comprises a permanent magnet. As illustrated in FIG. 22A, the driveshaft 2730 comprises one or more longitudinal key slots 6215 definedtherein which are configured to constrain the longitudinal movement ofthe second clutch 6210 relative to the drive shaft 2730. Morespecifically, the second clutch 6210 comprises one or more keysextending into the key slots 6215 such that the distal ends of the keyslots 6215 stop the distal movement of the second clutch 6210 and theproximal ends of the key slots 6215 stop the proximal movement of thesecond clutch 6210.

When the second clutch 6210 is in its disengaged position, referring toFIG. 30, the second clutch 6210 rotates with the drive shaft 2730 butdoes not transmit rotational motion to the second drive ring 6220. Ascan be seen in FIG. 30, the second clutch 6210 is separated from, or notin contact with, the second drive ring 6220. As a result, the rotationof the drive shaft 2730 and the second clutch 6210 is not transmitted tothe outer housing 6230 of the end effector 7000 when the second clutchassembly 6200 is in its disengaged state. When the second clutch 6210 isin its engaged position (FIG. 31), the second clutch 6210 is engagedwith the second drive ring 6220 such that the second drive ring 6220 isexpanded, or stretched, radially outwardly into contact with the outerhousing 6230. In at least one instance, the second drive ring 6220comprises an elastomeric band, for example. As can be seen in FIG. 31,the second drive ring 6220 is compressed against an annular innersidewall 7415 of the outer housing 6230. As a result, the rotation ofthe drive shaft 2730 and the second clutch 6210 is transmitted to theouter housing 6230 when the second clutch assembly 6200 is in itsengaged state. Depending on the direction in which the drive shaft 2730is rotated, the second clutch assembly 6200 can rotate the end effector7000 in a first direction or a second direction about the longitudinalaxis L when the second clutch assembly 6200 is in its engaged state.

As described above, the second electromagnetic actuator 6240 isconfigured to generate magnetic fields to move the second clutch 6210between its disengaged (FIG. 30) and engaged (FIG. 31) positions. Forinstance, the second electromagnetic actuator 6240 is configured to emita magnetic field EF_(L) which repulses, or drives, the second clutch6210 away from the second drive ring 6220 when the second clutchassembly 6200 is in its disengaged state. The second electromagneticactuator 6240 comprises one or more wound coils in a cavity defined inthe shaft frame 2530 which generate the magnetic field EF_(L) whencurrent flows in a first direction through a second electrical clutchcircuit including the wound coils. The control system 1800 is configuredto apply a first voltage polarity to the second electrical clutchcircuit to create the current flowing in the first direction. Thecontrol system 1800 can continuously apply the first voltage polarity tothe second electric clutch circuit to continuously hold the secondclutch 6120 in its disengaged position. While such an arrangement canprevent the second clutch 6210 from unintentionally engaging the seconddrive ring 6220, such an arrangement can also consume a lot of power.Alternatively, the control system 1800 can apply the first voltagepolarity to the second electrical clutch circuit for a sufficient periodof time to position the second clutch 6210 in its disengaged positionand then discontinue applying the first voltage polarity to the secondelectric clutch circuit, thereby resulting in a lower consumption ofpower. That being said, the second clutch assembly 6200 furthercomprises a second clutch lock 6250 mounted in the outer housing 6230which is configured to releasably hold the second clutch 6210 in itsdisengaged position. Similar to the above, the second clutch lock 6250can prevent, or at least reduce the possibility of, the second clutch6210 from becoming unintentionally engaged with the second drive ring6220. When the second clutch 6210 is in its disengaged position, asillustrated in FIG. 30, the second clutch lock 6250 interferes with thefree movement of the second clutch 6210 and holds the second clutch 6210in position via a friction and/or interference force therebetween. In atleast one instance, the second clutch lock 6250 comprises an elastomericplug, seat, or detent, comprised of rubber, for example. In certaininstances, the second clutch lock 6250 comprises a permanent magnetwhich holds the second clutch 6210 in its disengaged position by anelectromagnetic force. That said, the second electromagnetic actuator6240 can apply an electromagnetic pulling force to the second clutch6210 that overcomes these forces, as described in greater detail below.

Further to the above, referring to FIG. 31, the second electromagneticactuator 6240 is configured to emit a magnetic field EF_(D) which pulls,or drives, the second clutch 6210 toward the second drive ring 6220 whenthe second clutch assembly 6200 is in its engaged state. The coils ofthe second electromagnetic actuator 6240 generate the magnetic fieldEF_(D) when current flows in a second, or opposite, direction throughthe second electrical shaft circuit. The control system 1800 isconfigured to apply an opposite voltage polarity to the secondelectrical shaft circuit to create the current flowing in the oppositedirection. The control system 1800 can continuously apply the oppositevoltage polarity to the second electric shaft circuit to continuouslyhold the second clutch 6210 in its engaged position and maintain theoperable engagement between the second drive ring 6220 and the outerhousing 6230. Alternatively, the second clutch 6210 can be configured tobecome wedged within the second drive ring 6220 when the second clutch6210 is in its engaged position and, in such instances, the controlsystem 1800 may not need to continuously apply a voltage polarity to thesecond shaft electrical circuit to hold the second clutch assembly 6200in its engaged state. In such instances, the control system 1800 candiscontinue applying the voltage polarity once the second clutch 6210has been sufficiently wedged in the second drive ring 6220.

Notably, further to the above, the second clutch lock 6250 is alsoconfigured to lockout the rotation of the end effector 7000 when thesecond clutch 6210 is in its disengaged position. More specifically,referring again to FIG. 30, the second clutch 6210 pushes the secondclutch lock 6250 in the outer shaft 6230 into engagement with thearticulation link 2340 when the second clutch 6210 is in its disengagedposition such that the end effector 7000 does not rotate, or at leastsubstantially rotate, relative to the distal attachment portion 2400 ofthe shaft assembly 2000. As illustrated in FIG. 27, the second clutchlock 6250 is positioned or wedged within a slot, or channel, 2345defined in the articulation link 2340 when the second clutch 6210 is inits disengaged position. As a result of the above, the possibility ofthe end effector 7000 unintentionally rotating is prevented, or at leastreduced. Moreover, as a result of the above, the second clutch 6210 cando at least two things—operate the end effector rotation drive when thesecond clutch 6210 is in its engaged position and lock out the endeffector rotation drive when the second clutch 6210 is in its disengagedposition.

Referring primarily to FIGS. 22, 24, and 25, the shaft assembly 2000further comprises an articulation drive system configured to articulatethe distal attachment portion 2400 and the end effector 7000 about thearticulation joint 2300. The articulation drive system comprises anarticulation drive 6330 rotatably supported within the distal attachmentportion 2400. That said, the articulation drive 6330 is closely receivedwithin the distal attachment portion 2400 such that the articulationdrive 6330 does not translate, or at least substantially translate,relative to the distal attachment portion 2400. The articulation drivesystem of the shaft assembly 2000 further comprises a stationary gear2330 fixedly mounted to the articulation frame 2310. More specifically,the stationary gear 2330 is fixedly mounted to a pin connecting a tab2314 of the articulation frame 2310 and the articulation link 2340 suchthat the stationary gear 2330 does not rotate relative to thearticulation frame 2310. The stationary gear 2330 comprises a centralbody 2335 and an annular array of stationary teeth 2332 extending aroundthe perimeter of the central body 2335. The articulation drive 6330comprises an annular array of drive teeth 6332 which is meshinglyengaged with the stationary teeth 2332. When the articulation drive 6330is rotated, the articulation drive 6330 pushes against the stationarygear 2330 and articulates the distal attachment portion 2400 of theshaft assembly 2000 and the end effector 7000 about the articulationjoint 2300.

Referring primarily to FIG. 32, the third clutch system 6300 comprises athird clutch 6310, an expandable third drive ring 6320, and a thirdelectromagnetic actuator 6340. The third clutch 6310 comprises anannular ring and is slideably disposed on the drive shaft 2730. Thethird clutch 6310 is comprised of a magnetic material and is movablebetween a disengaged, or unactuated, position (FIG. 32) and an engaged,or actuated, position (FIG. 33) by electromagnetic fields EF generatedby the third electromagnetic actuator 6340. In various instances, thethird clutch 6310 is at least partially comprised of iron and/or nickel,for example. In at least one instance, the third clutch 6310 comprises apermanent magnet. As illustrated in FIG. 22A, the drive shaft 2730comprises one or more longitudinal key slots 6315 defined therein whichare configured to constrain the longitudinal movement of the thirdclutch 6310 relative to the drive shaft 2730. More specifically, thethird clutch 6310 comprises one or more keys extending into the keyslots 6315 such that the distal ends of the key slots 6315 stop thedistal movement of the third clutch 6310 and the proximal ends of thekey slots 6315 stop the proximal movement of the third clutch 6310.

When the third clutch 6310 is in its disengaged position, referring toFIG. 32, the third clutch 6310 rotates with the drive shaft 2730 butdoes not transmit rotational motion to the third drive ring 6320. As canbe seen in FIG. 32, the third clutch 6310 is separated from, or not incontact with, the third drive ring 6320. As a result, the rotation ofthe drive shaft 2730 and the third clutch 6310 is not transmitted to thearticulation drive 6330 when the third clutch assembly 6300 is in itsdisengaged state. When the third clutch 6310 is in its engaged position,referring to FIG. 33, the third clutch 6310 is engaged with the thirddrive ring 6320 such that the third drive ring 6320 is expanded, orstretched, radially outwardly into contact with the articulation drive6330. In at least one instance, the third drive ring 6320 comprises anelastomeric band, for example. As can be seen in FIG. 33, the thirddrive ring 6320 is compressed against an annular inner sidewall 6335 ofthe articulation drive 6330. As a result, the rotation of the driveshaft 2730 and the third clutch 6310 is transmitted to the articulationdrive 6330 when the third clutch assembly 6300 is in its engaged state.Depending on the direction in which the drive shaft 2730 is rotated, thethird clutch assembly 6300 can articulate the distal attachment portion2400 of the shaft assembly 2000 and the end effector 7000 in a first orsecond direction about the articulation joint 2300.

As described above, the third electromagnetic actuator 6340 isconfigured to generate magnetic fields to move the third clutch 6310between its disengaged (FIG. 32) and engaged (FIG. 33) positions. Forinstance, referring to FIG. 32, the third electromagnetic actuator 6340is configured to emit a magnetic field EF_(L) which repulses, or drives,the third clutch 6310 away from the third drive ring 6320 when the thirdclutch assembly 6300 is in its disengaged state. The thirdelectromagnetic actuator 6340 comprises one or more wound coils in acavity defined in the shaft frame 2530 which generate the magnetic fieldEF_(L) when current flows in a first direction through a thirdelectrical clutch circuit including the wound coils. The control system1800 is configured to apply a first voltage polarity to the thirdelectrical clutch circuit to create the current flowing in the firstdirection. The control system 1800 can continuously apply the firstvoltage polarity to the third electric clutch circuit to continuouslyhold the third clutch 6310 in its disengaged position. While such anarrangement can prevent the third clutch 6310 from unintentionallyengaging the third drive ring 6320, such an arrangement can also consumea lot of power. Alternatively, the control system 1800 can apply thefirst voltage polarity to the third electrical clutch circuit for asufficient period of time to position the third clutch 6310 in itsdisengaged position and then discontinue applying the first voltagepolarity to the third electric clutch circuit, thereby resulting in alower consumption of power.

Further to the above, the third electromagnetic actuator 6340 isconfigured to emit a magnetic field EF_(D) which pulls, or drives, thethird clutch 6310 toward the third drive ring 6320 when the third clutchassembly 6300 is in its engaged state. The coils of the thirdelectromagnetic actuator 6340 generate the magnetic field EF_(D) whencurrent flows in a second, or opposite, direction through the thirdelectrical clutch circuit. The control system 1800 is configured toapply an opposite voltage polarity to the third electrical shaft circuitto create the current flowing in the opposite direction. The controlsystem 1800 can continuously apply the opposite voltage polarity to thethird electric shaft circuit to continuously hold the third clutch 6310in its engaged position and maintain the operable engagement between thethird drive ring 6320 and the articulation drive 6330. Alternatively,the third clutch 6210 can be configured to become wedged within thethird drive ring 6320 when the third clutch 6310 is in its engagedposition and, in such instances, the control system 1800 may not need tocontinuously apply a voltage polarity to the third shaft electricalcircuit to hold the third clutch assembly 6300 in its engaged state. Insuch instances, the control system 1800 can discontinue applying thevoltage polarity once the third clutch 6310 has been sufficiently wedgedin the third drive ring 6320. In any event, the end effector 7000 isarticulatable in a first direction or a second direction, depending onthe direction in which the drive shaft 2730 is rotated, when the thirdclutch assembly 6300 is in its engaged state.

Further to the above, referring to FIGS. 22, 32, and 33, thearticulation drive system further comprises a lockout 6350 whichprevents, or at least inhibits, the articulation of the distalattachment portion 2400 of the shaft assembly 2000 and the end effector7000 about the articulation joint 2300 when the third clutch 6310 is inits disengaged position (FIG. 32). Referring primarily to FIG. 22, thearticulation link 2340 comprises a slot, or groove, 2350 defined thereinwherein the lockout 6350 is slideably positioned in the slot 2350 andextends at least partially under the stationary articulation gear 2330.The lockout 6350 comprises at attachment hook 6352 engaged with thethird clutch 6310. More specifically, the third clutch 6310 comprises anannular slot, or groove, 6312 defined therein and the attachment hook6352 is positioned in the annular slot 6312 such that the lockout 6350translates with the third clutch 6310. Notably, however, the lockout6350 does not rotate, or at least substantially rotate, with the thirdclutch 6310. Instead, the annular groove 6312 in the third clutch 6310permits the third clutch 6310 to rotate relative to the lockout 6350.The lockout 6350 further comprises a lockout hook 6354 slideablypositioned in a radially-extending lockout slot 2334 defined in thebottom of the stationary gear 2330. When the third clutch 6310 is in itsdisengaged position, as illustrated in FIG. 32, the lockout 6350 is in alocked position in which the lockout hook 6354 prevents the end effector7000 from rotating about the articulation joint 2300. When the thirdclutch 6310 is in its engaged position, as illustrated in FIG. 33, thelockout 6350 is in an unlocked position in which the lockout hook 6354is no longer positioned in the lockout slot 2334. Instead, the lockouthook 6354 is positioned in a clearance slot defined in the middle orbody 2335 of the stationary gear 2330. In such instances, the lockouthook 6354 can rotate within the clearance slot when the end effector7000 rotates about the articulation joint 2300.

Further to the above, the radially-extending lockout slot 2334 depictedin FIGS. 32 and 33 extends longitudinally, i.e., along an axis which isparallel to the longitudinal axis of the elongate shaft 2200. Once theend effector 7000 has been articulated, however, the lockout hook 6354is no longer aligned with the longitudinal lockout slot 2334. With thisin mind, the stationary gear 2330 comprises a plurality, or an array, ofradially-extending lockout slots 2334 defined in the bottom of thestationary gear 2330 such that, when the third clutch 6310 is deactuatedand the lockout 6350 is pulled distally after the end effector 7000 hasbeen articulated, the lockout hook 6354 can enter one of the lockoutslots 2334 and lock the end effector 7000 in its articulated position.Thus, as a result, the end effector 7000 can be locked in anunarticulated and an articulated position. In various instances, thelockout slots 2334 can define discrete articulated positions for the endeffector 7000. For instance, the lockout slots 2334 can be defined at 10degree intervals, for example, which can define discrete articulationorientations for the end effector 7000 at 10 degree intervals. In otherinstances, these orientations can be at 5 degree intervals, for example.In alternative embodiments, the lockout 6350 comprises a brake thatengages a circumferential shoulder defined in the stationary gear 2330when the third clutch 6310 is disengaged from the third drive ring 6320.In such an embodiment, the end effector 7000 can be locked in anysuitable orientation. In any event, the lockout 6350 prevents, or atleast reduces the possibility of, the end effector 7000 unintentionallyarticulating. As a result of the above, the third clutch 6310 can dothings—operate the articulation drive when it is in its engaged positionand lock out the articulation drive when it is in its disengagedposition.

Referring primarily to FIGS. 24 and 25, the shaft frame 2530 and thedrive shaft 2730 extend through the articulation joint 2300 into thedistal attachment portion 2400. When the end effector 7000 isarticulated, as illustrated in FIGS. 16 and 17, the shaft frame 2530 andthe drive shaft 2730 bend to accommodate the articulation of the endeffector 7000. Thus, the shaft frame 2530 and the drive shaft 2730 arecomprised of any suitable material which accommodates the articulationof the end effector 7000. Moreover, as discussed above, the shaft frame2530 houses the first, second, and third electromagnetic actuators 6140,6240, and 6340. In various instances, the first, second, and thirdelectromagnetic actuators 6140, 6240, and 6340 each comprise wound wirecoils, such as copper wire coils, for example, and the shaft frame 2530is comprised of an insulative material to prevent, or at least reducethe possibility of, short circuits between the first, second, and thirdelectromagnetic actuators 6140, 6240, and 6340. In various instances,the first, second, and third electrical clutch circuits extendingthrough the shaft frame 2530 are comprised of insulated electricalwires, for example. Further to the above, the first, second, and thirdelectrical clutch circuits place the electromagnetic actuators 6140,6240, and 6340 in communication with the control system 1800 in thedrive module 1100.

As described above, the clutches 6110, 6210, and/or 6310 can be held intheir disengaged positions so that they do not unintentionally move intotheir engaged positions. In various arrangements, the clutch system 6000comprises a first biasing member, such as a spring, for example,configured to bias the first clutch 6110 into its disengaged position, asecond biasing member, such as a spring, for example, configured to biasthe second clutch 6210 into its disengaged position, and/or a thirdbiasing member, such as a spring, for example, configured to bias thethird clutch 6110 into its disengaged position. In such arrangements,the biasing forces of the springs can be selectively overcome by theelectromagnetic forces generated by the electromagnetic actuators whenenergized by an electrical current. Further to the above, the clutches6110, 6210, and/or 6310 can be retained in their engaged positions bythe drive rings 6120, 6220, and/or 6320, respectively. Morespecifically, in at least one instance, the drive rings 6120, 6220,and/or 6320 are comprised of an elastic material which grips orfrictionally holds the clutches 6110, 6210, and/or 6310, respectively,in their engaged positions. In various alternative embodiments, theclutch system 6000 comprises a first biasing member, such as a spring,for example, configured to bias the first clutch 6110 into its engagedposition, a second biasing member, such as a spring, for example,configured to bias the second clutch 6210 into its engaged position,and/or a third biasing member, such as a spring, for example, configuredto bias the third clutch 6110 into its engaged position. In sucharrangements, the biasing forces of the springs can be overcome by theelectromagnetic forces applied by the electromagnetic actuators 6140,6240, and/or 6340, respectively, as needed to selectively hold theclutches 6110, 6210, and 6310 in their disengaged positions. In any oneoperational mode of the surgical system, the control assembly 1800 canenergize one of the electromagnetic actuators to engage one of theclutches while energizing the other two electromagnetic actuators todisengage the other two clutches.

Although the clutch system 6000 comprises three clutches to controlthree drive systems of the surgical system, a clutch system can compriseany suitable number of clutches to control any suitable number ofsystems. Moreover, although the clutches of the clutch system 6000 slideproximally and distally between their engaged and disengaged positions,the clutches of a clutch system can move in any suitable manner. Inaddition, although the clutches of the clutch system 6000 are engagedone at a time to control one drive motion at a time, various instancesare envisioned in which more than one clutch can be engaged to controlmore than one drive motion at a time.

In view of the above, the reader should appreciate that the controlsystem 1800 is configured to, one, operate the motor system 1600 torotate the drive shaft system 2700 in an appropriate direction and, two,operate the clutch system 6000 to transfer the rotation of the driveshaft system 2700 to the appropriate function of the end effector 7000.Moreover, as discussed above, the control system 1800 is responsive toinputs from the clamping trigger system 2600 of the shaft assembly 2000and the input system 1400 of the handle 1000. When the clamping triggersystem 2600 is actuated, as discussed above, the control system 1800activates the first clutch assembly 6100 and deactivates the secondclutch assembly 6200 and the third clutch assembly 6300. In suchinstances, the control system 1800 also supplies power to the motorsystem 1600 to rotate the drive shaft system 2700 in a first directionto clamp the jaw assembly 7100 of the end effector 7000. When thecontrol system 1800 detects that the jaw assembly 7100 is in its clampedconfiguration, the control system 1800 stops the motor assembly 1600 anddeactivates the first clutch assembly 6100. When the control system 1800detects that the clamping trigger system 2600 has been moved to, or isbeing moved to, its unactuated position, the control system 1800activates, or maintains the activation of, the first clutch assembly6100 and deactivates, or maintains the deactivation of, the secondclutch assembly 6200 and the third clutch assembly 6300. In suchinstances, the control system 1800 also supplies power to the motorsystem 1600 to rotate the drive shaft system 2700 in a second directionto open the jaw assembly 7100 of the end effector 7000.

When the rotation actuator 1420 is actuated in a first direction,further to the above, the control system 1800 activates the secondclutch assembly 6200 and deactivates the first clutch assembly 6100 andthe third clutch assembly 6300. In such instances, the control system1800 also supplies power to the motor system 1600 to rotate the driveshaft system 2700 in a first direction to rotate the end effector 7000in a first direction. When the control system 1800 detects that therotation actuator 1420 has been actuated in a second direction, thecontrol system 1800 activates, or maintains the activation of, thesecond clutch assembly 6200 and deactivates, or maintains thedeactivation of, the first clutch assembly 6100 and the third clutchassembly 6300. In such instances, the control system 1800 also suppliespower to the motor system 1600 to rotate the drive shaft system 2700 ina second direction to rotate the drive shaft system 2700 in a seconddirection to rotate the end effector 7000 in a second direction. Whenthe control system 1800 detects that the rotation actuator 1420 is notactuated, the control system 1800 deactivates the second clutch assembly6200.

When the first articulation actuator 1432 is depressed, further to theabove, the control system 1800 activates the third clutch assembly 6300and deactivates the first clutch assembly 6100 and the second clutchassembly 6200. In such instances, the control system 1800 also suppliespower to the motor system 1600 to rotate the drive shaft system 2700 ina first direction to articulate the end effector 7000 in a firstdirection. When the control system 1800 detects that the secondarticulation actuator 1434 is depressed, the control system 1800activates, or maintains the activation of, the third clutch assembly6200 and deactivates, or maintains the deactivation of, the first clutchassembly 6100 and the second clutch assembly 6200. In such instances,the control system 1800 also supplies power to the motor system 1600 torotate the drive shaft system 2700 in a second direction to articulatethe end effector 7000 in a second direction. When the control system1800 detects that neither the first articulation actuator 1432 nor thesecond articulation actuator 1434 are actuated, the control system 1800deactivates the third clutch assembly 6200.

Further to the above, the control system 1800 is configured to changethe operating mode of the stapling system based on the inputs itreceives from the clamping trigger system 2600 of the shaft assembly2000 and the input system 1400 of the handle 1000. The control system1800 is configured to shift the clutch system 6000 before rotating theshaft drive system 2700 to perform the corresponding end effectorfunction. Moreover, the control system 1800 is configured to stop therotation of the shaft drive system 2700 before shifting the clutchsystem 6000. Such an arrangement can prevent the sudden movements in theend effector 7000. Alternatively, the control system 1800 can shift theclutch system 600 while the shaft drive system 2700 is rotating. Such anarrangement can allow the control system 1800 to shift quickly betweenoperating modes.

As discussed above, referring to FIG. 34, the distal attachment portion2400 of the shaft assembly 2000 comprises an end effector lock 6400configured to prevent the end effector 7000 from being unintentionallydecoupled from the shaft assembly 2000. The end effector lock 6400comprises a lock end 6410 selectively engageable with the annular arrayof lock notches 7410 defined on the proximal attachment portion 7400 ofthe end effector 7000, a proximal end 6420, and a pivot 6430 rotatablyconnecting the end effector lock 6400 to the articulation link 2320.When the third clutch 6310 of the third clutch assembly 6300 is in itsdisengaged position, as illustrated in FIG. 34, the third clutch 6310 iscontact with the proximal end 6420 of the end effector lock 6400 suchthat the lock end 6410 of the end effector lock 6400 is engaged with thearray of lock notches 7410. In such instances, the end effector 7000 canrotate relative to the end effector lock 6400 but cannot translaterelative to the distal attachment portion 2400. When the third clutch6310 is moved into its engaged position, as illustrated in FIG. 35, thethird clutch 6310 is no longer engaged with the proximal end 6420 of theend effector lock 6400. In such instances, the end effector lock 6400 isfree to pivot upwardly and permit the end effector 7000 to be detachedfrom the shaft assembly 2000.

The above being said, referring again to FIG. 34, it is possible thatthe second clutch 6210 of the second clutch assembly 6200 is in itsdisengaged position when the clinician detaches, or attempts to detach,the end effector 7000 from the shaft assembly 2000. As discussed above,the second clutch 6210 is engaged with the second clutch lock 6250 whenthe second clutch 6210 is in its disengaged position and, in suchinstances, the second clutch lock 6250 is pushed into engagement withthe articulation link 2340. More specifically, the second clutch lock6250 is positioned in the channel 2345 defined in the articulation 2340when the second clutch 6210 is engaged with the second clutch lock 6250which may prevent, or at least impede, the end effector 7000 from beingdetached from the shaft assembly 2000. To facilitate the release of theend effector 7000 from the shaft assembly 2000, the control system 1800can move the second clutch 6210 into its engaged position in addition tomoving the third clutch 6310 into its engaged position. In suchinstances, the end effector 7000 can clear both the end effector lock6400 and the second clutch lock 6250 when the end effector 7000 isremoved.

In at least one instance, further to the above, the drive module 1100comprises an input switch and/or sensor in communication with thecontrol system 1800 via the input system 1400, and/or the control system1800 directly, which, when actuated, causes the control system 1800 tounlock the end effector 7000. In various instances, the drive module1100 comprises an input screen 1440 in communication with the board 1410of the input system 1400 which is configured to receive an unlock inputfrom the clinician. In response to the unlock input, the control system1800 can stop the motor system 1600, if it is running, and unlock theend effector 7000 as described above. The input screen 1440 is alsoconfigured to receive a lock input from the clinician in which the inputsystem 1800 moves the second clutch assembly 6200 and/or the thirdclutch assembly 6300 into their unactuated states to lock the endeffector 7000 to the shaft assembly 2000.

FIG. 37 depicts a shaft assembly 2000′ in accordance with at least onealternative embodiment. The shaft assembly 2000′ is similar to the shaftassembly 2000 in many respects, most of which will not be repeatedherein for the sake of brevity. Similar to the shaft assembly 2000, theshaft assembly 2000′ comprises a shaft frame, i.e., shaft frame 2530′.The shaft frame 2530′ comprises a longitudinal passage 2535′ and, inaddition, a plurality of clutch position sensors, i.e., a first sensor6180′, a second sensor 6280′, and a third sensor 6380′ positioned in theshaft frame 2530′. The first sensor 6180′ is in signal communicationwith the control system 1800 as part of a first sensing circuit. Thefirst sensing circuit comprises signal wires extending through thelongitudinal passage 2535′; however, the first sensing circuit cancomprise a wireless signal transmitter and receiver to place the firstsensor 6180′ in signal communication with the control system 1800. Thefirst sensor 6180′ is positioned and arranged to detect the position ofthe first clutch 6110 of the first clutch assembly 6100. Based on datareceived from the first sensor 6180′, the control system 1800 candetermine whether the first clutch 6110 is in its engaged position, itsdisengaged position, or somewhere in-between. With this information, thecontrol system 1800 can assess whether or not the first clutch 6110 isin the correct position given the operating state of the surgicalinstrument. For instance, if the surgical instrument is in its jawclamping/opening operating state, the control system 1800 can verifywhether the first clutch 6110 is properly positioned in its engagedposition. In such instances, further to the below, the control system1800 can also verify that the second clutch 6210 is in its disengagedposition via the second sensor 6280′ and that the third clutch 6310 isin its disengaged position via the third sensor 6380′. Correspondingly,the control system 1800 can verify whether the first clutch 6110 isproperly positioned in its disengaged position if the surgicalinstrument is not in its jaw clamping/opening state. To the extent thatthe first clutch 6110 is not in its proper position, the control system1800 can actuate the first electromagnetic actuator 6140 in an attemptto properly position the first clutch 6110. Likewise, the control system1800 can actuate the electromagnetic actuators 6240 and/or 6340 toproperly position the clutches 6210 and/or 6310, if necessary.

The second sensor 6280′ is in signal communication with the controlsystem 1800 as part of a second sensing circuit. The second sensingcircuit comprises signal wires extending through the longitudinalpassage 2535′; however, the second sensing circuit can comprise awireless signal transmitter and receiver to place the second sensor6280′ in signal communication with the control system 1800. The secondsensor 6280′ is positioned and arranged to detect the position of thesecond clutch 6210 of the first clutch assembly 6200. Based on datareceived from the second sensor 6280′, the control system 1800 candetermine whether the second clutch 6210 is in its engaged position, itsdisengaged position, or somewhere in-between. With this information, thecontrol system 1800 can assess whether or not the second clutch 6210 isin the correct position given the operating state of the surgicalinstrument. For instance, if the surgical instrument is in its endeffector rotation operating state, the control system 1800 can verifywhether the second clutch 6210 is properly positioned in its engagedposition. In such instances, the control system 1800 can also verifythat the first clutch 6110 is in its disengaged position via the firstsensor 6180′ and, further to the below, the control system 1800 can alsoverify that the third clutch 6310 is in its disengaged position via thethird sensor 6380′. Correspondingly, the control system 1800 can verifywhether the second clutch 6110 is properly positioned in its disengagedposition if the surgical instrument is not in its end effector rotationstate. To the extent that the second clutch 6210 is not in its properposition, the control system 1800 can actuate the second electromagneticactuator 6240 in an attempt to properly position the second clutch 6210.Likewise, the control system 1800 can actuate the electromagneticactuators 6140 and/or 6340 to properly position the clutches 6110 and/or6310, if necessary.

The third sensor 6380′ is in signal communication with the controlsystem 1800 as part of a third sensing circuit. The third sensingcircuit comprises signal wires extending through the longitudinalpassage 2535′; however, the third sensing circuit can comprise awireless signal transmitter and receiver to place the third sensor 6380′in signal communication with the control system 1800. The third sensor6380′ is positioned and arranged to detect the position of the thirdclutch 6310 of the third clutch assembly 6300. Based on data receivedfrom the third sensor 6380′, the control system 1800 can determinewhether the third clutch 6310 is in its engaged position, its disengagedposition, or somewhere in-between. With this information, the controlsystem 1800 can assess whether or not the third clutch 6310 is in thecorrect position given the operating state of the surgical instrument.For instance, if the surgical instrument is in its end effectorarticulation operating state, the control system 1800 can verify whetherthe third clutch 6310 is properly positioned in its engaged position. Insuch instances, the control system 1800 can also verify that the firstclutch 6110 is in its disengaged position via the first sensor 6180′ andthat the second clutch 6210 is in its disengaged position via the secondsensor 6280′. Correspondingly, the control system 1800 can verifywhether the third clutch 6310 is properly positioned in its disengagedposition if the surgical instrument is not in its end effectorarticulation state. To the extent that the third clutch 6310 is not inits proper position, the control system 1800 can actuate the thirdelectromagnetic actuator 6340 in an attempt to properly position thethird clutch 6310. Likewise, the control system 1800 can actuate theelectromagnetic actuators 6140 and/or 6240 to properly position theclutches 6110 and/or 6210, if necessary.

Further to the above, the clutch position sensors, i.e., the firstsensor 6180′, the second sensor 6280′, and the third sensor 6380′ cancomprise any suitable type of sensor. In various instances, the firstsensor 6180′, the second sensor 6280′, and the third sensor 6380′ eachcomprise a proximity sensor. In such an arrangement, the sensors 6180′,6280′, and 6380′ are configured to detect whether or not the clutches6110, 6210, and 6310, respectively, are in their engaged positions. Invarious instances, the first sensor 6180′, the second sensor 6280′, andthe third sensor 6380′ each comprise a Hall Effect sensor, for example.In such an arrangement, the sensors 6180′, 6280′, and 6380′ can not onlydetect whether or not the clutches 6110, 6210, and 6310, respectively,are in their engaged positions but the sensors 6180′, 6280′, and 6380′can also detect how close the clutches 6110, 6210, and 6310 are withrespect to their engaged or disengaged positions.

FIG. 38 depicts the shaft assembly 2000′ and an end effector 7000″ inaccordance with at least one alternative embodiment. The end effector7000″ is similar to the end effector 7000 in many respects, most ofwhich will not be repeated herein for the sake of brevity. Similar tothe end effector 7000, the shaft assembly 7000″ comprises a jaw assembly7100 and a jaw assembly drive configured to move the jaw assembly 7100between its open and closed configurations. The jaw assembly drivecomprises drive links 7140, a drive nut 7150″, and a drive screw 6130″.The drive nut 7150″ comprises a sensor 7190″ positioned therein which isconfigured to detect the position of a magnetic element 6190″ positionedin the drive screw 6130″. The magnetic element 6190″ is positioned in anelongate aperture 6134″ defined in the drive screw 6130″ and cancomprise a permanent magnet and/or can be comprised of iron, nickel,and/or any suitable metal, for example. In various instances, the sensor7190″ comprises a proximity sensor, for example, which is in signalcommunication with the control system 1800. In certain instances, thesensor 7190″ comprises a Hall Effect sensor, for example, in signalcommunication with the control system 1800. In certain instances, thesensor 7190″ comprises an optical sensor, for example, and thedetectable element 6190″ comprises an optically detectable element, suchas a reflective element, for example. In either event, the sensor 7190″is configured to communicate wirelessly with the control system 1800 viaa wireless signal transmitter and receiver and/or via a wired connectionextending through the shaft frame passage 2532′, for example.

The sensor 7190″, further to the above, is configured to detect when themagnetic element 6190″ is adjacent to the sensor 7190″ such that thecontrol system 1800 can use this data to determine that the jaw assembly7100 has reached the end of its clamping stroke. At such point, thecontrol system 1800 can stop the motor assembly 1600. The sensor 7190″and the control system 1800 are also configured to determine thedistance between where the drive screw 6130″ is currently positioned andwhere the drive screw 6130″ should be positioned at the end of itsclosure stroke in order to calculate the amount of closure stroke of thedrive screw 6130″ that is still needed to close the jaw assembly 7100.Moreover, such information can be used by the control system 1800 toassess the current configuration of the jaw assembly 7100, i.e., whetherthe jaw assembly 7100 is in its open configuration, its closedconfiguration, or a partially closed configuration. The sensor systemcould be used to determine when the jaw assembly 7100 has reached itsfully open position and stop the motor assembly 1600 at that point. Invarious instances, the control system 1800 could use this sensor systemto confirm that the first clutch assembly 6100 is in its actuated stateby confirming that the jaw assembly 7100 is moving while the motorassembly 1600 is turning. Similarly, the control system 1800 could usethis sensor system to confirm that the first clutch assembly 6100 is inits unactuated state by confirming that the jaw assembly 7100 is notmoving while the motor assembly 1600 is turning.

FIG. 39 depicts a shaft assembly 2000′″ and an end effector 7000′″ inaccordance with at least one alternative embodiment. The shaft assembly2000′″ is similar to the shaft assemblies 2000 and 2000′ in manyrespects, most of which will not be repeated herein for the sake ofbrevity. The end effector 7000′″ is similar to the end effectors 7000and 7000″ in many respects, most of which will not be repeated hereinfor the sake of brevity. Similar to the end effector 7000, the endeffector 7000′″ comprises a jaw assembly 7100 and a jaw assembly driveconfigured to move the jaw assembly 7100 between its open and closedconfigurations and, in addition, an end effector rotation drive thatrotates the end effector 7000′″ relative to the distal attachmentportion 2400 of the shaft assembly 2000′. The end effector rotationdrive comprises an outer housing 6230′″ that is rotated relative to ashaft frame 2530′″ of the end effector 7000′″ by the second clutchassembly 6200. The shaft frame 2530′″ comprises a sensor 6290′″positioned therein which is configured to detect the position of amagnetic element 6190′″ positioned in and/or on the outer housing6230′″. The magnetic element 6190′″ can comprise a permanent magnetand/or can be comprised of iron, nickel, and/or any suitable metal, forexample. In various instances, the sensor 6290′″ comprises a proximitysensor, for example, in signal communication with the control system1800. In certain instances, the sensor 6290′″ comprises a Hall Effectsensor, for example, in signal communication with the control system1800. In either event, the sensor 6290′″ is configured to communicatewirelessly with the control system 1800 via a wireless signaltransmitter and receiver and/or via a wired connection extending throughthe shaft frame passage 2532′, for example. In various instances, thecontrol system 1800 can use the sensor 6290′″ to confirm whether themagnetic element 6190′″ is rotating and, thus, confirm that the secondclutch assembly 6200 is in its actuated state. Similarly, the controlsystem 1800 can use the sensor 6290′″ to confirm whether the magneticelement 6190′″ is not rotating and, thus, confirm that the second clutchassembly 6200 is in its unactuated state. The control system 1800 canalso use the sensor 6290′″ to confirm that the second clutch assembly6200 is in its unactuated state by confirming that the second clutch6210 is positioned adjacent the sensor 6290′″.

FIG. 40 depicts a shaft assembly 2000″″ in accordance with at least onealternative embodiment. The shaft assembly 2000″″ is similar to theshaft assemblies 2000, 2000′, and 2000′″ in many respects, most of whichwill not be repeated herein for the sake of brevity. Similar to theshaft assembly 2000, the shaft assembly 2000″″ comprises, among otherthings, an elongate shaft 2200, an articulation joint 2300, and a distalattachment portion 2400 configured to receive an end effector, such asend effector 7000′, for example. Similar to the shaft assembly 2000, theshaft assembly 2000″″ comprises an articulation drive, i.e.,articulation drive 6330″″ configured to rotate the distal attachmentportion 2400 and the end effector 7000′ about the articulation joint2300. Similar to the above, a shaft frame 2530″″ comprises a sensorpositioned therein configured to detect the position, and/or rotation,of a magnetic element 6390″″ positioned in and/or on the articulationdrive 6330″″. The magnetic element 6390“ ” can comprise a permanentmagnet and/or can be comprised of iron, nickel, and/or any suitablemetal, for example. In various instances, the sensor comprises aproximity sensor, for example, in signal communication with the controlsystem 1800. In certain instances, the sensor comprises a Hall Effectsensor, for example, in signal communication with the control system1800. In either event, the sensor is configured to communicatewirelessly with the control system 1800 via a wireless signaltransmitter and receiver and/or via a wired connection extending throughthe shaft frame passage 2532′, for example. In various instances, thecontrol system 1800 can use the sensor to confirm whether the magneticelement 6390″″ is rotating and, thus, confirm that the third clutchassembly 6300 is in its actuated state. Similarly, the control system1800 can use the sensor to confirm whether the magnetic element 6390″″is not rotating and, thus, confirm that the third clutch assembly 6300is in its unactuated state. In certain instances, the control system1800 can use the sensor to confirm that the third clutch assembly 6300is in its unactuated state by confirming that the third clutch 6310 ispositioned adjacent the sensor.

Referring to FIG. 40 once again, the shaft assembly 2000″″ comprises anend effector lock 6400′ configured to releasably lock the end effector7000′, for example, to the shaft assembly 2000″″. The end effector lock6400′ is similar to the end effector lock 6400 in many respects, most ofwhich will not be discussed herein for the sake of brevity. Notably,though, a proximal end 6420′ of the lock 6400′ comprises a tooth 6422′configured to engage the annular slot 6312 of the third clutch 6310 andreleasably hold the third clutch 6310 in its disengaged position. Thatsaid, the actuation of the third electromagnetic assembly 6340 candisengage the third clutch 6310 from the end effector lock 6400′.Moreover, in such instances, the proximal movement of the third clutch6310 into its engaged position rotates the end effector lock 6400′ intoa locked position and into engagement with the lock notches 7410 to lockthe end effector 7000′ to the shaft assembly 2000″″. Correspondingly,the distal movement of the third clutch 6310 into its disengagedposition unlocks the end effector 7000′ and allows the end effector7000′ to be disassembled from the shaft assembly 2000″″.

Further to the above, an instrument system including a handle and ashaft assembly attached thereto can be configured to perform adiagnostic check to assess the state of the clutch assemblies 6100,6200, and 6300. In at least one instance, the control system 1800sequentially actuates the electromagnetic actuators 6140, 6240, and/or6340—in any suitable order—to verify the positions of the clutches 6110,6210, and/or 6310, respectively, and/or verify that the clutches areresponsive to the electromagnetic actuators and, thus, not stuck. Thecontrol system 1800 can use sensors, including any of the sensorsdisclosed herein, to verify the movement of the clutches 6110, 6120, and6130 in response to the electromagnetic fields created by theelectromagnetic actuators 6140, 6240, and/or 6340. In addition, thediagnostic check can also include verifying the motions of the drivesystems. In at least one instance, the control system 1800 sequentiallyactuates the electromagnetic actuators 6140, 6240, and/or 6340—in anysuitable order—to verify that the jaw drive opens and/or closes the jawassembly 7100, the rotation drive rotates the end effector 7000, and/orthe articulation drive articulates the end effector 7000, for example.The control system 1800 can use sensors to verify the motions of the jawassembly 7100 and end effector 7000.

The control system 1800 can perform the diagnostic test at any suitabletime, such as when a shaft assembly is attached to the handle and/orwhen the handle is powered on, for example. If the control system 1800determines that the instrument system passed the diagnostic test, thecontrol system 1800 can permit the ordinary operation of the instrumentsystem. In at least one instance, the handle can comprise an indicator,such as a green LED, for example, which indicates that the diagnosticcheck has been passed. If the control system 1800 determines that theinstrument system failed the diagnostic test, the control system 1800can prevent and/or modify the operation of the instrument system. In atleast one instance, the control system 1800 can limit the functionalityof the instrument system to only the functions necessary to remove theinstrument system from the patient, such as straightening the endeffector 7000 and/or opening and closing the jaw assembly 7100, forexample. In at least one respect, the control system 1800 enters into alimp mode. The limp mode of the control system 1800 can reduce a currentrotational speed of the motor 1610 by any percentage selected from arange of about 75% to about 25%, for example. In one example, the limpmode reduces a current rotational speed of the motor 1610 by 50%. In oneexample, the limp mode reduces the current rotational speed of the motor1610 by 75%. The limp mode may cause a current torque of the motor 1610to be reduced by any percentage selected from a range of about 75% toabout 25%, for example. In one example, the limp mode reduces a currenttorque of the motor 1610 by 50%. The handle can comprise an indicator,such as a red LED, for example, which indicates that the instrumentsystem failed the diagnostic check and/or that the instrument system hasentered into a limp mode. The above being said, any suitable feedbackcan be used to warn the clinician that the instrument system is notoperating properly such as, for example, an audible warning and/or atactile or vibratory warning, for example.

FIGS. 41-43 depict a clutch system 6000′ in accordance with at least onealternative embodiment. The clutch system 6000′ is similar to the clutchsystem 6000 in many respects, most of which will not be repeated hereinfor the sake of brevity. Similar to the clutch system 6000, the clutchsystem 6000′ comprises a clutch assembly 6100′ which is actuatable toselectively couple a rotatable drive input 6030′ with a rotatable driveoutput 6130′. The clutch assembly 6100′ comprises clutch plates 6110′and drive rings 6120′. The clutch plates 6110′ are comprised of amagnetic material, such as iron and/or nickel, for example, and cancomprise a permanent magnet. As described in greater detail below, theclutch plates 6110′ are movable between unactuated positions (FIG. 42)and actuated positions (FIG. 43) within the drive output 6130′. Theclutch plates 6110′ are slideably positioned in apertures defined in thedrive output 6130′ such that the clutch plates 6110′ rotate with thedrive output 6130′ regardless of whether the clutch plates 6110′ are intheir unactuated or actuated positions.

When the clutch plates 6110′ are in their unactuated positions, asillustrated in FIG. 42, the rotation of the drive input 6030′ is nottransferred to the drive output 6130′. More specifically, when the driveinput 6030′ is rotated, in such instances, the drive input 6030′ slidespast and rotates relative to the drive rings 6120′ and, as a result, thedrive rings 6120′ do not drive the clutch plates 6110′ and the driveoutput 6130′. When the clutch plates 6110′ are in their actuatedpositions, as illustrated in FIG. 43, the clutch plates 6110′resiliently compress the drive rings 6120′ against the drive input6030′. The drive rings 6120′ are comprised of any suitable compressiblematerial, such as rubber, for example. In any event, in such instances,the rotation of the drive input 6030′ is transferred to the drive output6130′ via the drive rings 6120′ and the clutch plates 6110′. The clutchsystem 6000′ comprises a clutch actuator 6140′ configured to move theclutch plates 6110′ into their actuated positions. The clutch actuator6140′ is comprised of a magnetic material such as iron and/or nickel,for example, and can comprise a permanent magnet. The clutch actuator6140′ is slideably positioned in a longitudinal shaft frame 6050′extending through the drive input 6030′ and can be moved between anunactuated position (FIG. 42) and an actuated position (FIG. 43) by aclutch shaft 6060′. In at least one instance, the clutch shaft 6060′comprises a polymer cable, for example. When the clutch actuator 6140′is in its actuated position, as illustrated in FIG. 43, the clutchactuator 6140′ pulls the clutch plates 6110′ inwardly to compress thedrive rings 6120′, as discussed above. When the clutch actuator 6140′ ismoved into its unactuated position, as illustrated in FIG. 42, the driverings 6120′ resiliently expand and push the clutch plates 6110′ awayfrom the drive input 6030′. In various alternative embodiments, theclutch actuator 6140′ can comprise an electromagnet. In such anarrangement, the clutch actuator 6140′ can be actuated by an electricalcircuit extending through a longitudinal aperture defined in the clutchshaft 6060′, for example. In various instances, the clutch system 6000′further comprises electrical wires 6040′, for example, extending throughthe longitudinal aperture.

FIG. 44 depicts an end effector 7000 a including a jaw assembly 7100 a,a jaw assembly drive, and a clutch system 6000 a in accordance with atleast one alternative embodiment. The jaw assembly 7100 a comprises afirst jaw 7110 a and a second jaw 7120 a which are selectively rotatableabout a pivot 7130 a. The jaw assembly drive comprises a translatableactuator rod 7160 a and drive links 7140 a which are pivotably coupledto the actuator rod 7160 a about a pivot 7150 a. The drive links 7140 aare also pivotably coupled to the jaws 7110 a and 7120 a such that thejaws 7110 a and 7120 a are rotated closed when the actuator rod 7160 ais pulled proximally and rotated open when the actuator rod 7160 a ispushed distally. The clutch system 6000 a is similar to the clutchsystems 6000 and 6000′ in many respects, most of which will not berepeated herein for the sake of brevity. The clutch system 6000 acomprises a first clutch assembly 6100 a and a second clutch assembly6200 a which are configured to selectively transmit the rotation of adrive input 6030 a to rotate the jaw assembly 7100 a about alongitudinal axis and articulate the jaw assembly 7100 a about anarticulation joint 7300 a, respectively, as described in greater detailbelow.

The first clutch assembly 6100 a comprises clutch plates 6110 a anddrive rings 6120 a and work in a manner similar to the clutch plates6110′ and drive rings 6120′ discussed above. When the clutch pates 6110a are actuated by an electromagnetic actuator 6140 a, the rotation ofthe drive input 6030 a is transferred to an outer shaft housing 7200 a.More specifically, the outer shaft housing 7200 a comprises a proximalouter housing 7210 a and a distal outer housing 7220 a which isrotatably supported by the proximal outer housing 7210 a and is rotatedrelative to the proximal outer housing 7210 a by the drive input 6030 awhen the clutch plates 6110 a are in their actuated position. Therotation of the distal outer housing 7220 a rotates the jaw assembly7100 a about the longitudinal axis owing to fact that the pivot 7130 aof the jaw assembly 7100 a is mounted to the distal outer housing 7220a. As a result, the outer shaft housing 7200 a rotates the jaw assembly7100 a in a first direction when the outer shaft housing 7200 a isrotated in a first direction by the drive input 6030 a. Similarly, theouter shaft housing 7200 a rotates the jaw assembly 7100 a in a seconddirection when the outer shaft housing 7200 a is rotated in a seconddirection by the drive input 6030 a. When the electromagnetic actuator6140 a is de-energized, the drive rings 6120 a expand and the clutchplates 6110 a are moved into their unactuated positions, therebydecoupling the end effector rotation drive from the drive input 6030 a.

The second clutch assembly 6200 a comprises clutch plates 6210 a anddrive rings 6220 a and work in a manner similar to the clutch plates6110′ and drive rings 6120′ discussed above. When the clutch pates 6210a are actuated by an electromagnetic actuator 6240 a, the rotation ofthe drive input 6030 a is transferred to an articulation drive 6230 a.The articulation drive 6230 a is rotatably supported within an outershaft housing 7410 a of an end effector attachment portion 7400 a and isrotatably supported by a shaft frame 6050 a extending through the outershaft housing 7410 a. The articulation drive 6230 a comprises a gearface defined thereon which is operably intermeshed with a stationarygear face 7230 a defined on the proximal outer housing 7210 a of theouter shaft housing 7200 a. As a result, the articulation drive 6230 aarticulates the outer shaft housing 7200 a and the jaw assembly 7100 ain a first direction when the articulation drive 6230 a is rotated in afirst direction by the drive input 6030 a. Similarly, the articulationdrive 6230 a articulates the outer shaft housing 7200 a and the jawassembly 7100 a in a second direction when the articulation drive 6230 ais rotated in a second direction by the drive input 6030 a. When theelectromagnetic actuator 6240 a is de-energized, the drive rings 6220 aexpand and the clutch plates 6210 a are moved into their unactuatedpositions, thereby decoupling the end effector articulation drive fromthe drive input 6030 a.

Further to the above, the shaft assembly 4000 is illustrated in FIGS.45-49. The shaft assembly 4000 is similar to the shaft assemblies 2000,2000′, 2000′″, and 2000″″ in many respects, most of which will not berepeated herein for the sake of brevity. The shaft assembly 4000comprises a proximal portion 4100, an elongate shaft 4200, a distalattachment portion 2400, and an articulate joint 2300 which rotatablyconnects the distal attachment portion 2040 to the elongate shaft 4200.The proximal portion 4100, similar to the proximal portion 2100, isoperably attachable to the drive module 1100 of the handle 1000. Theproximal portion 4100 comprises a housing 4110 including an attachmentinterface 4130 configured to mount the shaft assembly 4000 to theattachment interface 1130 of the handle 1000. The shaft assembly 4000further comprises a frame 4500 including a shaft 4510 configured to becoupled to the shaft 1510 of the handle frame 1500 when the shaftassembly 4000 is attached to the handle 1000. The shaft assembly 4000also comprises a drive system 4700 including a rotatable drive shaft4710 configured to be operably coupled to the drive shaft 1710 of thehandle drive system 1700 when the shaft assembly 4000 is attached to thehandle 1000. The distal attachment portion 2400 is configured to receivean end effector, such as end effector 8000, for example. The endeffector 8000 is similar to the end effector 7000 in many respects, mostof which will not be repeated herein for the sake of brevity. That said,the end effector 8000 comprises a jaw assembly 8100 configured to, amongother things, grasp tissue.

As discussed above, referring primarily to FIGS. 47-49, the frame 4500of the shaft assembly 4000 comprises a frame shaft 4510. The frame shaft4510 comprises a notch, or cut-out, 4530 defined therein. As discussedin greater detail below, the cut-out 4530 is configured to provideclearance for a jaw closure actuation system 4600. The frame 4500further comprises a distal portion 4550 and a bridge 4540 connecting thedistal portion 4550 to the frame shaft 4510. The frame 4500 furthercomprises a longitudinal portion 4560 extending through the elongateshaft 4200 to the distal attachment portion 2400. Similar to the above,the frame shaft 4510 comprises one or more electrical traces definedthereon and/or therein. The electrical traces extend through thelongitudinal portion 4560, the distal portion 4550, the bridge 4540,and/or any suitable portion of the frame shaft 4510 to the electricalcontacts 2520. Referring primarily to FIG. 48, the distal portion 4550and longitudinal portion 4560 comprise a longitudinal aperture definedtherein which is configured to receive a rod 4660 of the jaw closureactuation system 4600, as described in greater detail below.

As also discussed above, referring primarily to FIGS. 48 and 49, thedrive system 4700 of the shaft assembly 4000 comprises a drive shaft4710. The drive shaft 4710 is rotatably supported within the proximalshaft housing 4110 by the frame shaft 4510 and is rotatable about alongitudinal axis extending through the frame shaft 4510. The drivesystem 4700 further comprises a transfer shaft 4750 and an output shaft4780. The transfer shaft 4750 is also rotatably supported within theproximal shaft housing 4110 and is rotatable about a longitudinal axisextending parallel to, or at least substantially parallel to, the frameshaft 4510 and the longitudinal axis defined therethrough. The transfershaft 4750 comprises a proximal spur gear 4740 fixedly mounted theretosuch that the proximal spur gear 4740 rotates with the transfer shaft4750. The proximal spur gear 4740 is operably intermeshed with anannular gear face 4730 defined around the outer circumference of thedrive shaft 4710 such that the rotation of the drive shaft 4710 istransferred to the transfer shaft 4750. The transfer shaft 4750 furthercomprises a distal spur gear 4760 fixedly mounted thereto such that thedistal spur gear 4760 rotates with the transfer shaft 4750. The distalspur gear 4760 is operably intermeshed with an annular gear 4770 definedaround the outer circumference of the output shaft 4780 such that therotation of the transfer shaft 4750 is transferred to the output shaft4780. Similar to the above, the output shaft 4780 is rotatably supportedwithin the proximal shaft housing 4110 by the distal portion 4550 of theshaft frame 4500 such that the output shaft 4780 rotates about thelongitudinal shaft axis. Notably, the output shaft 4780 is not directlycoupled to the input shaft 4710; rather, the output shaft 4780 isoperably coupled to the input shaft 4710 by the transfer shaft 4750.Such an arrangement provides room for the manually-actuated jaw closureactuation system 4600 discussed below.

Further to the above, referring primarily to FIGS. 47 and 48, the jawclosure actuation system 4600 comprises an actuation, or scissors,trigger 4610 rotatably coupled to the proximal shaft housing 4110 abouta pivot 4620. The actuation trigger 4610 comprises an elongate portion4612, a proximal end 4614, and a grip ring aperture 4616 defined in theproximal end 4614 which is configured to be gripped by the clinician.The shaft assembly 4000 further comprises a stationary grip 4160extending from the proximal housing 4110. The stationary grip 4160comprises an elongate portion 4162, a proximal end 4164, and a grip ringaperture 4166 defined in the proximal end 4164 which is configured to begripped by the clinician. In use, as described in greater detail below,the actuation trigger 4610 is rotatable between an unactuated positionand an actuated position (FIG. 48), i.e., toward the stationary grip4160, to close the jaw assembly 8100 of the end effector 8000.

Referring primarily to FIG. 48, the jaw closure actuation system 4600further comprises a drive link 4640 rotatably coupled to the proximalshaft housing 4110 about a pivot 4650 and, in addition, an actuation rod4660 operably coupled to the drive link 4640. The actuation rod 4660extends through an aperture defined in the longitudinal frame portion4560 and is translatable along the longitudinal axis of the shaft frame4500. The actuation rod 4660 comprises a distal end operably coupled tothe jaw assembly 8100 and a proximal end 4665 positioned in a drive slot4645 defined in the drive link 4640 such that the actuation rod 4660 istranslated longitudinally when the drive link 4640 is rotated about thepivot 4650. Notably, the proximal end 4665 is rotatably supported withinthe drive slot 4645 such that the actuation rod 4660 can rotate with theend effector 8000.

Further to the above, the actuation trigger 4610 further comprises adrive arm 4615 configured to engage and rotate the drive link 4640proximally, and translate the actuation rod 4660 proximally, when theactuation trigger 4610 is actuated, i.e., moved closer to the proximalshaft housing 4110. In such instances, the proximal rotation of thedrive link 4640 resiliently compresses a biasing member, such as a coilspring 4670, for example, positioned intermediate the drive link 4640and the frame shaft 4510. When the actuation trigger 4610 is released,the compressed coil spring 4670 re-expands and pushes the drive link4640 and the actuation rod 4660 distally to open the jaw assembly 8100of the end effector 8000. Moreover, the distal rotation of the drivelink 4640 drives, and automatically rotates, the actuation trigger 4610back into its unactuated position. That being said, the clinician couldmanually return the actuation trigger 4610 back into its unactuatedposition. In such instances, the actuation trigger 4610 could be openedslowly. In either event, the shaft assembly 4000 further comprises alock configured to releasably hold the actuation trigger 4610 in itsactuated position such that the clinician can use their hand to performanother task without the jaw assembly 8100 opening unintentionally.

In various alternative embodiments, further to the above, the actuationrod 4660 can be pushed distally to close the jaw assembly 8100. In atleast one such instance, the actuation rod 4660 is mounted directly tothe actuation trigger 4610 such that, when the actuation trigger 4610 isactuated, the actuation trigger 4610 drives the actuation rod 4660distally. Similar to the above, the actuation trigger 4610 can compressa spring when the actuation trigger 4610 is closed such that, when theactuation trigger 4610 is released, the actuation rod 4660 is pushedproximally.

Further to the above, the shaft assembly 4000 has three functions—opening/closing the jaw assembly of an end effector, rotating the endeffector about a longitudinal axis, and articulating the end effectorabout an articulation axis. The end effector rotation and articulationfunctions of the shaft assembly 4000 are driven by the motor assembly1600 and the control system 1800 of the drive module 1100 while the jawactuation function is manually-driven by the jaw closure actuationsystem 4600. The jaw closure actuation system 4600 could be amotor-driven system but, instead, the jaw closure actuation system 4600has been kept a manually-driven system such that the clinician can havea better feel for the tissue being clamped within the end effector.While motorizing the end effector rotation and actuation systemsprovides certain advantages for controlling the position of the endeffector, motorizing the jaw closure actuation system 4600 may cause theclinician to lose a tactile sense of the force being applied to thetissue and may not be able to assess whether the force is insufficientor excessive. Thus, the jaw closure actuation system 4600 ismanually-driven even though the end effector rotation and articulationsystems are motor-driven.

FIG. 50 is a logic diagram of the control system 1800 of the surgicalsystem depicted in FIG. 1 in accordance with at least one embodiment.The control system 1800 comprises a control circuit. The control circuitincludes a microcontroller 1840 comprising a processor 1820 and a memory1830. One or more sensors, such as sensors 1880, 1890, 6180′, 6280′,6380′, 7190″, and/or 6290′″, for example, provide real time feedback tothe processor 1820. The control system 1800 further comprises a motordriver 1850 configured to control the electric motor 1610 and a trackingsystem 1860 configured to determine the position of one or morelongitudinally movable components in the surgical instrument, such asthe clutches 6110, 6120, and 6130 and/or the longitudinally-movabledrive nut 7150 of the jaw assembly drive, for example. The trackingsystem 1860 is also configured to determine the position of one or morerotational components in the surgical instrument, such as the driveshaft 2530, the outer shaft 6230, and/or the articulation drive 6330,for example. The tracking system 1860 provides position information tothe processor 1820, which can be programmed or configured to, amongother things, determine the position of the clutches 6110, 6120, and6130 and the drive nut 7150 as well as the orientation of the jaws 7110and 7120. The motor driver 1850 may be an A3941 available from AllegroMicrosystems, Inc., for example; however, other motor drivers may bereadily substituted for use in the tracking system 1860. A detaileddescription of an absolute positioning system is described in U.S.Patent Application Publication No. 2017/0296213, entitled SYSTEMS ANDMETHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, theentire disclosure of which is hereby incorporated herein by reference.

The microcontroller 1840 may be any single core or multicore processorsuch as those known under the trade name ARM Cortex by TexasInstruments, for example. In at least one instance, the microcontroller1840 is a LM4F230H5QR ARM Cortex-M4F Processor Core, available fromTexas Instruments, for example, comprising on-chip memory of 256 KBsingle-cycle flash memory, or other non-volatile memory, up to 40 MHz, aprefetch buffer to improve performance above 40 MHz, a 32 KBsingle-cycle serial random access memory (SRAM), internal read-onlymemory (ROM) loaded with StellarisWare® software, 2 KB electricallyerasable programmable read-only memory (EEPROM), one or more pulse widthmodulation (PWM) modules and/or frequency modulation (FM) modules, oneor more quadrature encoder inputs (QEI) analog, one or more 12-bitAnalog-to-Digital Converters (ADC) with 12 analog input channels, forexample, details of which are available from the product datasheet.

In various instances, the microcontroller 1840 comprises a safetycontroller comprising two controller-based families such as TMS570 andRM4x known under the trade name Hercules ARM Cortex R4, also by TexasInstruments. The safety controller may be configured specifically forIEC 61508 and ISO 26262 safety critical applications, among others, toprovide advanced integrated safety features while delivering scalableperformance, connectivity, and memory options.

The microcontroller 1840 is programmed to perform various functions suchas precisely controlling the speed and/or position of the drive nut 7150of the jaw closure assembly, for example. The microcontroller 1840 isalso programmed to precisely control the rotational speed and positionof the end effector 7000 and the articulation speed and position of theend effector 7000. In various instances, the microcontroller 1840computes a response in the software of the microcontroller 1840. Thecomputed response is compared to a measured response of the actualsystem to obtain an “observed” response, which is used for actualfeedback decisions. The observed response is a favorable, tuned, valuethat balances the smooth, continuous nature of the simulated responsewith the measured response, which can detect outside influences on thesystem.

The motor 1610 is controlled by the motor driver 1850. In various forms,the motor 1610 is a DC brushed driving motor having a maximum rotationalspeed of approximately 25,000 RPM, for example. In other arrangements,the motor 1610 includes a brushless motor, a cordless motor, asynchronous motor, a stepper motor, or any other suitable electricmotor. The motor driver 1850 may comprise an H-bridge driver comprisingfield-effect transistors (FETs), for example. The motor driver 1850 maybe an A3941 available from Allegro Microsystems, Inc., for example. TheA3941 driver 1850 is a full-bridge controller for use with externalN-channel power metal oxide semiconductor field effect transistors(MOSFETs) specifically designed for inductive loads, such as brush DCmotors. In various instances, the driver 1850 comprises a unique chargepump regulator provides full (>10 V) gate drive for battery voltagesdown to 7 V and allows the A3941 to operate with a reduced gate drive,down to 5.5 V. A bootstrap capacitor may be employed to provide theabove-battery supply voltage required for N-channel MOSFETs. An internalcharge pump for the high-side drive allows DC (100% duty cycle)operation. The full bridge can be driven in fast or slow decay modesusing diode or synchronous rectification. In the slow decay mode,current recirculation can be through the high-side or the lowside FETs.The power FETs are protected from shoot-through by resistor adjustabledead time. Integrated diagnostics provide indication of undervoltage,overtemperature, and power bridge faults, and can be configured toprotect the power MOSFETs under most short circuit conditions. Othermotor drivers may be readily substituted.

The tracking system 1860 comprises a controlled motor drive circuitarrangement comprising one or more position sensors, such as sensors1880, 1890, 6180′, 6280′, 6380′, 7190″, and/or 6290′″, for example. Theposition sensors for an absolute positioning system provide a uniqueposition signal corresponding to the location of a displacement member.As used herein, the term displacement member is used generically torefer to any movable member of the surgical system. In variousinstances, the displacement member may be coupled to any position sensorsuitable for measuring linear displacement. Linear displacement sensorsmay include contact or non-contact displacement sensors. Lineardisplacement sensors may comprise linear variable differentialtransformers (LVDT), differential variable reluctance transducers(DVRT), a slide potentiometer, a magnetic sensing system comprising amovable magnet and a series of linearly arranged Hall Effect sensors, amagnetic sensing system comprising a fixed magnet and a series ofmovable linearly arranged Hall Effect sensors, an optical sensing systemcomprising a movable light source and a series of linearly arrangedphoto diodes or photo detectors, or an optical sensing system comprisinga fixed light source and a series of movable linearly arranged photodiodes or photo detectors, or any combination thereof.

The position sensors 1880, 1890, 6180′, 6280′, 6380′, 7190″, and/or6290′″, for example, may comprise any number of magnetic sensingelements, such as, for example, magnetic sensors classified according towhether they measure the total magnetic field or the vector componentsof the magnetic field. The techniques used to produce both types ofmagnetic sensors encompass many aspects of physics and electronics. Thetechnologies used for magnetic field sensing include search coil,fluxgate, optically pumped, nuclear precession, SQUID, Hall-Effect,anisotropic magnetoresistance, giant magnetoresistance, magnetic tunneljunctions, giant magnetoimpedance, magnetostrictive/piezoelectriccomposites, magnetodiode, magnetotransistor, fiber optic, magnetooptic,and microelectromechanical systems-based magnetic sensors, among others.

In various instances, one or more of the position sensors of thetracking system 1860 comprise a magnetic rotary absolute positioningsystem. Such position sensors may be implemented as an AS5055EQFTsingle-chip magnetic rotary position sensor available from AustriaMicrosystems, AG and can be interfaced with the controller 1840 toprovide an absolute positioning system. In certain instances, a positionsensor comprises a low-voltage and low-power component and includes fourHall-Effect elements in an area of the position sensor that is locatedadjacent a magnet. A high resolution ADC and a smart power managementcontroller are also provided on the chip. A CORDIC processor (forCoordinate Rotation Digital Computer), also known as the digit-by-digitmethod and Volder's algorithm, is provided to implement a simple andefficient algorithm to calculate hyperbolic and trigonometric functionsthat require only addition, subtraction, bitshift, and table lookupoperations. The angle position, alarm bits, and magnetic fieldinformation are transmitted over a standard serial communicationinterface such as an SPI interface to the controller 1840. The positionsensors can provide 12 or 14 bits of resolution, for example. Theposition sensors can be an AS5055 chip provided in a small QFN 16-pin4×4×0.85 mm package, for example.

The tracking system 1860 may comprise and/or be programmed to implementa feedback controller, such as a PID, state feedback, and adaptivecontroller. A power source converts the signal from the feedbackcontroller into a physical input to the system, in this case voltage.Other examples include pulse width modulation (PWM) and/or frequencymodulation (FM) of the voltage, current, and force. Other sensor(s) maybe provided to measure physical parameters of the physical system inaddition to position. In various instances, the other sensor(s) caninclude sensor arrangements such as those described in U.S. Pat. No.9,345,481, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM,which is hereby incorporated herein by reference in its entirety; U.S.Patent Application Publication No. 2014/0263552, entitled STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which is hereby incorporatedherein by reference in its entirety; and U.S. patent application Ser.No. 15/628,175, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTORVELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, which is herebyincorporated herein by reference in its entirety. In a digital signalprocessing system, absolute positioning system is coupled to a digitaldata acquisition system where the output of the absolute positioningsystem will have finite resolution and sampling frequency. The absolutepositioning system may comprise a compare and combine circuit to combinea computed response with a measured response using algorithms such asweighted average and theoretical control loop that drives the computedresponse towards the measured response. The computed response of thephysical system takes into account properties like mass, inertial,viscous friction, inductance resistance, etc., to predict what thestates and outputs of the physical system will be by knowing the input.

The absolute positioning system provides an absolute position of thedisplacement member upon power up of the instrument without retractingor advancing the displacement member to a reset (zero or home) positionas may be required with conventional rotary encoders that merely countthe number of steps forwards or backwards that the motor 1610 has takento infer the position of a device actuator, drive bar, knife, and thelike.

A sensor 1880 comprising a strain gauge or a micro-strain gauge, forexample, is configured to measure one or more parameters of the endeffector, such as, for example, the strain experienced by the jaws 7110and 7120 during a clamping operation. The measured strain is convertedto a digital signal and provided to the processor 1820. In addition toor in lieu of the sensor 1880, a sensor 1890 comprising a load sensor,for example, can measure the closure force applied by the closure drivesystem to the jaws 7110 and 7120. In various instances, a current sensor1870 can be employed to measure the current drawn by the motor 1610. Theforce required to clamp the jaw assembly 7100 can correspond to thecurrent drawn by the motor 1610, for example. The measured force isconverted to a digital signal and provided to the processor 1820. Amagnetic field sensor can be employed to measure the thickness of thecaptured tissue. The measurement of the magnetic field sensor can alsobe converted to a digital signal and provided to the processor 1820.

The measurements of the tissue compression, the tissue thickness, and/orthe force required to close the end effector on the tissue as measuredby the sensors can be used by the controller 1840 to characterize theposition and/or speed of the movable member being tracked. In at leastone instance, a memory 1830 may store a technique, an equation, and/or alook-up table which can be employed by the controller 1840 in theassessment. In various instances, the controller 1840 can provide theuser of the surgical instrument with a choice as to the manner in whichthe surgical instrument should be operated. To this end, the display1440 can display a variety of operating conditions of the instrument andcan include touch screen functionality for data input. Moreover,information displayed on the display 1440 may be overlaid with imagesacquired via the imaging modules of one or more endoscopes and/or one ormore additional surgical instruments used during the surgical procedure.

As discussed above, the drive module 1100 of the handle 1000 and/or theshaft assemblies 2000, 3000, 4000, and/or 5000, for example, attachablethereto comprise control systems. Each of the control systems cancomprise a circuit board having one or more processors and/or memorydevices. Among other things, the control systems are configured to storesensor data, for example. They are also configured to store data whichidentifies the shaft assembly to the handle 1000. Moreover, they arealso configured to store data including whether or not the shaftassembly has been previously used and/or how many times the shaftassembly has been used. This information can be obtained by the handle1000 to assess whether or not the shaft assembly is suitable for useand/or has been used less than a predetermined number of times, forexample.

A shaft assembly 9000 is illustrated in FIGS. 51-69. The shaft assembly9000 is similar to the shaft assemblies 2000, 3000, 4000, and 5000 inmany respects, most of which will not be discussed herein for the sakeof brevity. As illustrated in FIG. 51, the shaft assembly 9000 comprisesa proximal portion 9100, an elongate shaft 9200 extending from theproximal portion 9100, a distal attachment portion 9400, and anarticulation joint 9300. The proximal portion 9100 comprises aninterface 9130 configured to be attached to a handle, such as the handle1000, for example. The articulation joint 9300 rotatably connects thedistal attachment portion 9400 to the elongate shaft 9200. The shaftassembly 9000 further comprises an end effector assembly 9500 attachedto the distal attachment portion 9400. The end effector assembly 9500comprises a first jaw 9510 and a second jaw 9520 configured to be openedand closed to clamp and/or manipulate the tissue of a patient. In use,the end effector assembly 9500 can be articulated about the articulationjoint 9300 and/or rotated relative to the distal attachment portion 9400about a longitudinal axis LA to better situate the jaws 9510 and 9520within a patient in order to perform various end effector functions, aswill be described in greater detail below.

Referring to FIG. 52, the shaft assembly 9000 comprises a drive assembly9700 supported on a frame 9110 in the proximal shaft portion 9100. Thedrive assembly 9700 is capable of being operated in two configurations—ashifting configuration and a drive configuration. Moreover, as discussedin greater detail below, the drive assembly 9700 is configured toprovide three end effector functions by way of one rotary input. Thedrive assembly 9700 comprises a first, or input, rotatable drive shaft9710 configured to transfer rotational motions from a drive motor 9120(illustrated in FIG. 51) to a main gear 9720 of the drive assembly 9700.Referring to FIGS. 54 and 55, the input drive shaft 9710 is rotatableabout a first rotation axis RA₁ and is rotatably supported by the frame9110. The main gear 9720 is mounted to the input drive shaft 9710 suchthat the main gear 9720 rotates with the input drive shaft 9710. Thedrive assembly 9700 further comprises a second, or output, rotatabledrive shaft 9740. The output drive shaft 9740 is rotatable about asecond rotation axis RA₂ and is also rotatably supported by the frame9110. As described in greater detail below, the drive assembly 9700 alsocomprises a first rotatable gear 9730 and a second rotatable gear 9830which are selectively engageable with the main gear 9720.

Referring to FIG. 52, the shaft assembly 9000 further comprises ashifting assembly 9800 configured to shift the drive assembly 9700. Theshifting assembly 9800 comprises a solenoid 9810 which translates ashifter gear 9820 to place the drive assembly 9700 in its shiftingconfiguration or its drive configuration. Referring to FIGS. 58 and 59,the shifter gear 9820 is operably intermeshed with the main gear 9720 ofthe drive assembly 9700 when the shifter gear 9820 is in its shiftingconfiguration (FIG. 58) and, also, its drive configuration (FIG. 59).That being said, the shifter gear 9820 rotatably drives either the firstrotatable gear 9730 or the second rotatable gear 9830 depending onwhether the drive assembly 9700 is in its shifting configuration (FIG.58) or its drive configuration (FIG. 59). Ultimately, the first andsecond rotatable gears 9730 and 9830 both drive the output drive shaft9740, but in different ways. More specifically, the output drive shaft9740 is rotated by the shifter gear 9820 via the first rotatable gear9730 when the drive assembly 9700 is in its drive configuration and, onthe other hand, the output drive shaft 9740 is translated by the shiftergear 9820 via the second rotatable gear 9830 when the drive assembly9700 is in its shifting configuration.

Referring primarily to FIGS. 58 and 59, the frame 9110 comprises a slot9115 defined therein which is configured to guide and/or constrain themovement of the shifter gear 9820. The slot 9115 comprises a first endconfigured to stop the shifter gear 9820 in its first position and asecond end configured to stop the shifter gear 9820 in its secondposition. More specifically, the shifter gear 9820 is rotatably mountedto a shifter shaft 9825 extending through the slot 9115 which slideswithin the slot 9115 and moves the shifter gear 9820 between its firstand second positions when the solenoid 9810 is actuated. The slot 9115comprises arcuate sidewalls extending between the first and second endsthereof which define an arcuate path for the shifter gear 9820. Thearcuate path is centered about the axis RA₁ extending through the inputshaft 9710. That said, the slot 9115 can comprise any suitableconfiguration and define any suitable path for the shifter gear 9820. Inat least one instance, the slot 9115 is straight and defines a straightpath for the shifter gear 9820.

Referring to FIGS. 55 and 56, the shifting assembly 9800 furthercomprises a threaded transfer shaft 9840 mounted to the second rotatablegear 9830 such that the transfer shaft 9840 turns with the secondrotatable gear 9830. Similar to the input shaft 9710, the transfer shaft9840 is rotatably supported by the frame 9110. The shifting assembly9800 further comprises a lateral shaft 9890 rotatably supported withinthe proximal portion 9100 which comprises a pinion gear 9850 operablyintermeshed with the transfer shaft 9840 such that the rotation of thetransfer shaft 9840 is transferred to the lateral shaft 9890. Thelateral shaft 9890 further comprises a rack gear 9860 defined thereonwhich is meshingly engaged with a rack 9880 defined on the output driveshaft 9740. The lateral shaft 9890 is rotatable about a third rotationaxis RA₃. As illustrated in FIG. 56, the first rotation axis RA₁ and thesecond rotation axis RA₂ are parallel, or at least substantiallyparallel, to one another, and the third rotation axis RA₃ isperpendicular, or at least substantially perpendicular, to the firstrotation axis RA₁ and the second rotation axis RA₂.

As outlined above, referring to FIG. 56, the shifter gear 9820 isintermeshed with the rotatable gear 9830 when the drive assembly 9700 isin its shifting configuration. As the motor 9120 powers the input shaft9710 to rotate the main gear 9720, the shifter gear 9820 also rotates.As the shifter gear 9820 rotates while engaged with the rotatable gear9830, the transfer shaft 9840 rotates in the same direction as therotatable gear 9830 and the lateral shaft 9890 rotates about the axisRA₃. When the main gear 9720 is rotated in a first direction, in thisconfiguration, the rack gear 9860 drives the drive shaft 9740 distallyvia the rack 9880, as illustrated in FIG. 61. When the main gear 9720 isrotated in a second, or opposite, direction, the rack gear 9860 drivesthe drive shaft 9740 proximally, as illustrated in FIG. 60. As discussedin greater detail below, the drive shaft 9740 is shiftable proximallyand distally to place the drive shaft 9740 in a first, or proximal,drive configuration, a second, or intermediate, drive configuration, anda third, or distal, drive configuration.

Further to the above, the shaft assembly 9000 and/or handle 1000, forexample, comprise a control system configured to operate the drive motor9120 and the solenoid 9810. The control system of the shaft assembly9000 is similar to the control system 1800 and/or 2800 in many respects,most of which will not be discussed herein for the sake of brevity. Thecontrol system is configured to receive inputs from the clinician and,in response to those inputs, shift the shaft assembly 9000 into a first,or articulation, operating mode, a second, or rotation, operating mode,or a third, or jaw drive, operating mode. The first, second, and thirdoperating modes of the shaft assembly 9000 correspond to the first,second, and third positions of the output shaft 9740. When the shaftassembly 9000 is instructed to switch between operating modes, thesolenoid 9810 moves the shifter gear 9820 into its second position andthen rotates the input shaft 9710 to translate the output shaft 9740.The control system is configured to correlate the amount in which theinput shaft 9710 is rotated to the amount in which the output shaft 9740is translated. The control system is configured to monitor the rotationsof the drive motor 9120 and then stop the drive motor 9120 once thedrive motor 9120 has been rotated the appropriate number of rotations toshift the output shaft 9740. The control system comprises a memorydevice which stores the number of rotations needed to translate theoutput shaft 9740 between its first, second, and third positions. Forinstance, the memory device stores the number of rotations of the drivemotor 9120 to translate the output shaft 9740 between the first positionand the second position, the first position and the third position, andthe second position and the third position. The control system is alsoconfigured to know what position the output shaft 9740 is currently inbefore operating the drive motor 9120. In various instances, the controlsystem can comprise a sensor system configured to detect the currentposition of the output shaft 9740 and then determine the number ofrotations, and the direction of those rotations, in which the drivemotor 9120 should be operated.

Once the output shaft 9740 has been positioned in the first, second, orthird position, as described above, the control system operates thesolenoid 9810 to place the shifter gear 9820 in the drive configuration.In such instances, the shifter gear 9820 is disengaged from the secondgear 9830 and then engaged with the first gear 9730. The first gear 9730is mounted to the output shaft 9740 such that the rotation of the firstgear 9730 is transmitted to the output shaft 9740. More specifically,the first gear 9730 is disposed on the splined proximal end 9745 of theoutput shaft 9740 such that the first gear 9730 and the output shaft9740 rotate together. That said, the output shaft 9740 can translaterelative to the first gear 9730 owing to the splined proximal end 9745such that the first gear 9730 remains aligned with the shifter gear 9820when the output shaft 9740 is being translated as described above. Asdiscussed in greater detail below, the input shaft 9710 is rotatable ina first direction to rotate the output shaft 9740 in a first directionand a second direction to rotate the output shaft 9740 in a seconddirection.

FIGS. 58 and 61 illustrate the drive assembly 9700 in the shiftingconfiguration. The main gear 9720 is rotatably engaged with the shiftergear 9820 in the shifting configuration to transfer motion from theinput drive shaft 9710 to the second rotatable gear 9830. FIGS. 59 and60 illustrate the drive assembly 9700 in the drive configuration. In thedrive configuration, the main gear 9720 is rotatably engaged with theshifter gear 9820 to transfer motion from the input drive shaft 9710 tothe first rotatable gear 9730. As discussed above, the output driveshaft 9740 is translatable. In fact, the output drive shaft 9740 istranslatable between three different operational positions—a first, orproximal, position in which the output drive shaft 9740 drives anarticulation system, a second, or intermediate, position in which theoutput drive shaft 9740 drives an end effector rotation system, and athird, or distal, position in which the output shaft 9740 drives a jawdrive system.

Turning now to FIGS. 62 and 63, the articulation joint 9300 comprises anarticulation system configured to articulate the distal attachmentportion 9400 and the end effector 9500 in a first direction and a seconddirection. The articulation system comprises a fixed gear 9220 mountedon an outer housing 9530 of the end effector 9500 and, also, anarticulation drive gear 9320 fixedly mounted to the output shaft 9740such that the articulation drive gear 9320 rotates with the output shaft9740. When the output shaft 9740 is in its first, or proximal position,as illustrated in FIGS. 64 and 65, the articulation drive gear 9320 isoperably intermeshed with the fixed gear 9220. As the output drive shaft9740 is rotated in the first direction, in such instances, thearticulation drive gear 9320 rotates in conjunction with the outputshaft 9740 which articulates the end effector 9500 in a firstarticulation direction due to the meshing engagement of the articulationdrive gear 9320 and the fixed gear 9220. As the output shaft 9740 isrotated in the second direction, the articulation drive gear 9320rotates in conjunction with the output drive shaft 9740 whicharticulates the end effector 9500 in a second, or opposite, articulationdirection, also due to the meshing engagement of the articulation drivegear 9320 and the fixed gear 9220. When the end effector 9500 isarticulated, the output drive shaft 9740 is configured to bend in orderto accommodate the articulation motion of the end effector 9500. Thus,the output drive shaft 9740 is comprised of suitable materials whichcompliment the bending movement of the output shaft 9740 during anarticulation motion, as illustrated in FIG. 65.

As discussed above, referring again to FIGS. 64 and 65, the end effector9500 is in its articulation mode when the output shaft 9740 is in itsfirst, or proximal, position. In such instances, as also discussedabove, the rotation of the output shaft 9740 articulates the endeffector 9500. That said, in such instances, the rotation of the outputshaft 9740 does not rotate the end effector 9500 about the longitudinalaxis and/or operate the jaw drive to open and close the jaws 9510 and9520. Stated another way, the jaw opening/closure mode and the endeffector rotation mode are inactive when the end effector 9500 is in thearticulation mode. As illustrated in FIGS. 64 and 65, the distal end9744 of the output shaft 9740 is not engaged with a drive screw 9350 ofthe jaw drive when the end effector 9500 is in the articulation modeand, as such, the output shaft 9740 cannot drive the drive screw 9350until the output shaft 9740 has been shifted distally, as described ingreater detail below. Moreover, the end effector 9500 can't be rotatedabout the longitudinal axis because the end effector 9500 is locked tothe distal attachment portion 9400 of the shaft assembly 9000 by arotation lock 9330 when the end effector 9500 is in the articulationmode. In such instances, the housing 9530 of the end effector 9500 islocked to a housing 9430 of the distal attachment portion 9400 by therotation lock 9330 such that the end effector 9500 cannot rotaterelative to the shaft assembly 9000 until the output shaft 9740 has beenshifted distally, as described in greater detail below.

Further to the above, referring again to FIGS. 64 and 65, the rotationlock 9330 is pivotably coupled to the housing 9430 of the distalattachment portion 9400 about a center attachment portion 9336. Therotation lock 9330 further comprises a proximal end 9332 and a distallock end 9334. When the output shaft 9740 is in its first, or proximal,drive position, and the end effector 9500 is in its articulation mode,the distal lock end 9334 of the rotation lock 9330 is wedged intoengagement with an annular array of lock apertures 9534 defined aroundthe outer housing 9530 of the end effector 9500. More specifically, theproximal end 9332 of the rotation lock 9330 is wedged outwardly by adrive lock 9340 coupled to the output shaft 9740 which, in turn, wedgesthe distal lock end 9334 inwardly. The drive lock 9340, which isdescribed in greater detail below, comprises a slot 9346 defined thereinand is translated proximally and distally with the output shaft 9740 bya flange 9746 extending into the slot 9346. When the output shaft 9740is moved distally out of its first, or proximal, drive position, thedrive lock 9340 is moved out of engagement with the proximal end 9332 ofthe rotation lock 9330, as illustrated in FIGS. 66-69.

When the output shaft 9740 is not in its first, or proximal, driveposition, the articulation drive gear 9320 is not operably intermeshedwith the fixed gear 9220. In such instances, the rotation of the outputshaft 9740 does not articulate the end effector 9500. That said, the endeffector 9500 is held in its articulated position by the drive shaft9740 when the drive shaft 9740 is translated distally from its firstposition. More specifically, the drive shaft 9740 comprises articulationlock teeth 9742 defined thereon which engage, or mesh with, the teeth9222 of the fixed gear 9220 when the drive shaft 9740 is advanceddistally and, owing to the engagement between the teeth 9742 and 9222,the end effector 9500 is locked in position. This articulation lockworks when the end effector 9500 is articulated in the first direction,articulated in the second direction, and when the end effector 9500 isunarticulated. Moreover, this articulation lock is engaged as soon asthe drive shaft 9740 is displaced distally from its first position.Thus, the articulation lock is engaged when the drive shaft 9740 is inits second position and third position. In order to unlock thearticulation lock, the drive shaft 9740 is moved back into its firstposition to disengage the teeth 9742 from the teeth 9222. At such point,the end effector 9500 can be articulated once again.

When the output drive shaft 9740 is in its second, or intermediate,position, referring to FIGS. 66 and 67, the end effector 9500 is in itsrotation drive mode. In such instances, the articulation drive gear 9320mounted to the output shaft 9740 is not engaged with the fixed gear 9220and, as a result, the rotation of the output shaft 9740 does notarticulate the distal attachment portion 9400 and the end effector 9500.That said, the distal end 9744 of the output shaft 9740 is positionedwithin the drive socket 9354 of the drive screw 9350 when the outputshaft 9740 is in its second position. Notably, though, the distal end9744 is not fully seated in the drive socket 9354—this happens when theoutput shaft 9740 is translated distally into its third, or distal,position (FIGS. 68 and 69), as discussed in greater detail below. Thatbeing said, the rotation of the output shaft 9740 is transferred to thedrive screw 9350 when the output shaft 9740 is in its second, orintermediate, position. Owing to a close, or friction, fit between thedrive screw 9350 and the outer housing 9530 of the end effector 9500,however, the rotation of the drive screw 9350 is transferred to theouter housing 9350. More specifically, the drive screw 9350 comprises aflange 9358 closely received within a slot 9538 defined in the outerhousing 9530 and, as such, the drive screw 9350 and the outer housing9530 rotate together when the end effector 9500 is in its rotation drivemode. Moreover, the entire end effector 9500, including the jaws 9510and 9520 rotatably coupled to the outer housing 9530 by a pivot pin9380, is rotated about a longitudinal axis when the end effector 9500 isin its rotation drive mode and the output shaft 9740 is rotated.

When the output shaft 9740 is rotated in a first direction when the endeffector 9500 is in its rotation drive mode, further to the above, theend effector 9500 is rotated relative to the distal attachment portion9400 of the shaft assembly 9000 in the first direction. Correspondingly,the end effector 9500 is rotated relative to the distal attachmentportion 9400 in a second, or opposite, direction when the output shaft9740 is rotated in the second, or opposite, direction. Notably, therotation of the drive screw 9350 does not open and/or close the jaws9510 and 9520 in such instances as the drive screw 9350 does not rotaterelative to the outer housing 9530 and/or jaws 9510 and 9520. Also,notably, the outer housing 9530 of the end effector 9500 rotatesrelative to the outer housing 9430 of the distal attachment portion 9400when the end effector 9500 is in its rotation drive mode. This is due tothe distal displacement of the drive lock 9340 away from the proximalend 9332 of the rotation lock 9330 when the drive shaft 9740 is movedinto its second position such that, as a result, the outer housing 9530of the end effector 9500 can rotate relative to the outer housing 9430of the distal attachment portion 9400.

When the output drive shaft 9740 is in its third, or distal, position,referring to FIGS. 68 and 69, the end effector 9500 is in its jaw drivemode. In such instances, the articulation drive gear 9320 mounted to theoutput shaft 9740 is not engaged with the fixed gear 9220 and, as aresult, the rotation of the output shaft 9740 does not articulate thedistal attachment portion 9400 and the end effector 9500. That said,further to the above, the distal end 9744 of the drive shaft 9740 isfully seated in the drive socket 9354 of the drive screw 9350 when theend effector 9500 is in its distal position. As a result, the drivescrew 9350 rotates with the output shaft 9740. Moreover, the drive screw9350 rotates relative to the outer housing 9530 when the end effector9500 is in its jaw drive mode. This is because the drive lock 9340coupled to the drive shaft 9740 is driven distally into engagement withthe outer housing 9530 when the drive shaft 9740 is moved into itsthird, or distal, drive position and, as a result, prevents the outerhousing 9530 from rotating with the drive screw 9350. More specifically,referring to FIG. 63, the drive lock 9340 comprises a distal lock end9342 configured to engage an annular array of lock apertures 9532defined in the proximal end of the outer housing 9530 and, once thedistal lock end 9342 is engaged with the apertures 9532, the outerhousing 9530 is held in position by the drive lock 9340.

Further to the above, the end effector 9500 further comprises a drivenut 9360 threadably engaged with the drive screw 9350 and, in addition,two drive links 9370 pivotably coupled to the drive nut 9360—each ofwhich is also pivotably coupled to a jaw 9510 and 9520. The drive nut9360 comprises a threaded aperture 9362 defined therein threadablyengaged with a threaded end 9352 of the drive shaft 9350. The drive nut9360 is constrained from rotating relative to the outer housing 9530and, as a result, the drive nut 9360 is translated proximally ordistally when the drive screw 9350 is rotated, depending on thedirection in which the drive screw 9350 is rotated. When the drive screw9350 is rotated in a first direction by the drive shaft 9740, the drivescrew 9350 pushes the drive nut 9360 and the drive links 9370 distallyto open the jaws 9510 and 9520. When the drive screw 9350 is rotated ina second direction by the drive shaft 9740, the drive screw 9350 pullsthe drive nut and the drive links 9370 proximally to close the jaws 9510and 9520. That being said, a different thread could be used to reversethese motions.

In view of the above, the end effector 9500 cannot be rotated about itslongitudinal axis and the jaws 9510 and 9520 cannot be opened and closedduring the articulation mode. Moreover, the end effector 9500 cannot bearticulated about the articulation joint 9300 and the jaws 9510 and 9520cannot be opened and closed during the end effector rotation mode.Similarly, the end effector 9500 cannot be rotated or articulated duringthe jaw drive mode.

Further to the above, the shaft assembly 9000 comprises a braking system9900 configured to hold the drive shaft 9740 in its first, orarticulation, drive position, its second, or rotation, drive position,and/or its third, or jaw drive, position. The braking system 9900comprises a solenoid 9910, a brake arm 9920 operably connected to arotatable output shaft of the solenoid 9910, and a biasing member. Thebrake arm 9920 is rotatable between a first position in which the brakearm 9920 is engaged with the drive shaft 9740 and a second position inwhich the brake arm 9920 is disengaged from the drive shaft 9740. Thebiasing member biases the brake arm 9920 into its first position, butthis bias is overcome when the solenoid 9910 is actuated. When the brakearm 9920 is in its first position, the brake arm 9920 opposes, throughfriction, the movement of the drive shaft 9740. In such instances, thebrake arm 9920 can reduce the possibility of the drive shaft 9740 beingaccidentally pushed longitudinally out of position. When the brake arm9920 is in its second position, the brake arm 9920 does not oppose themotion of the drive shaft 9740. In various instances, the solenoid 9910can be actuated to lift the brake arm 9920 when the shaft assembly 9000has been shifted into its drive configuration by the solenoid 9810, asdiscussed above. In at least one such instance, the solenoid 9910 can beactuated to lift the brake arm 9920 when the shaft assembly 9000 is inits drive configuration and the input motor 9120 is being operated. Theshifting solenoid 9810 and the brake solenoid 9910 are in communicationwith the control system of the shaft assembly 9000 and/or the controlsystem of the handle 1000, for example, and can be selectively actuatedby the control system. The control system can actuate the solenoid 9910to inhibit the movement of the drive shaft 9740 at any suitable time. Inat least one instance, the control system is configured to always applya braking force to the drive shaft 9740 except when the shaft assembly9000 and/or handle are in a limp mode, for example. In certainalternative embodiments, a static friction member, for example, can beused to inhibit unintended displacement of the drive shaft 9740.

The shaft assembly 9000 further comprises a sensor system configured todetect the longitudinal position of the drive shaft 9740. In at leastone instance, the drive shaft 9740 comprises a magnetic element, such asa permanent magnet, iron, and/or nickel, for example, which isdetectable by one or more sensors of the sensor system. In at least oneinstance, a sensor of the sensor system comprises a Hall Effect sensor,for example. The sensor system is in communication with the controlsystem of the shaft assembly 9000 and/or the handle 1000, for example,and is configured to confirm whether the drive shaft 9740 is in itsproximal drive position, its intermediate drive position, its distaldrive position, or somewhere in-between. With this information, thecontrol system can monitor the position of the drive shaft 9740 inreal-time and adjust the longitudinal position of the drive shaft 9740,if necessary.

A shaft assembly 9000′ is depicted tin FIGS. 70-79 which is similar tothe shaft assembly 9000 in many respects, most of which will not bediscussed herein for the sake of brevity. Referring primarily to FIG.71, the shaft assembly 9000′ comprises an elongate shaft 9200′, a distalattachment portion 9400′, and an articulation joint 9300′ rotatablyconnecting the distal attachment portion 9400′ to the elongate shaft9200′. The shaft assembly 9000′ further comprises an end effector 9500rotatably supported within an outer housing 9430 of the distalattachment portion 9400′. The shaft assembly 9000′ also comprises adrive system configured to rotate the end effector 9500 about alongitudinal axis, articulate the end effector 9500 about thearticulation joint 9300′, and open and close the jaws 9510 and 9520 ofthe end effector 9500.

Referring primarily to FIG. 70, the drive system comprises, among otherthings, a rotatable input shaft 9710, a first output shaft 9740′, and asecond output shaft 9860′. The drive system further comprises a shiftersolenoid 9810′ configured to selectively couple the input shaft 9710with the first output shaft 9740′ in a first drive configuration and thesecond output shaft 9860′ in a second drive configuration. In the firstdrive configuration, the rotatable input shaft 9710 rotates the maingear 9720 which, in turn, rotates the shifter gear 9820. In suchinstances, the shifter gear 9820 rotates the first drive gear 9730which, in turn, rotates the first output shaft 9740′. Similar to theoutput shaft 9740, the first drive gear 9730 is engaged with a splinedproximal end 9745 of the first output shaft 9740′ such that the firstoutput shaft 9740′ rotates with, but can translate relative to, thefirst drive gear 9730. The drive system of the shaft assembly 9000′further comprises a second shifter solenoid 9910′ configured totranslate the first output shaft 9740′ between a disengaged position(FIGS. 74 and 75), a first drive position (FIGS. 76 and 77), and asecond drive position (FIGS. 78 and 79). The second shifter solenoid9910′ comprises a shift arm 9920′ engaged with a flange 9720′ defined onthe first output shaft 9740′ which is configured to push the firstoutput shaft 9740′ between its disengaged position, first driveposition, and second drive position.

In the second drive configuration, further to the above, the rotatableinput shaft 9710 rotates the main gear 9720 which, in turn, rotates theshifter gear 9820. In such instances, the shifter gear 9820 rotates thesecond drive gear 9830 which, in turn, rotates a threaded shaft 9840′.The drive system further comprises a drive nut 9850′ threadably engagedwith the threaded shaft 9840′ such that, when the threaded shaft 9840′is rotated in a first direction by the input shaft 9710, the drive nut9850′ is translated proximally and, when the threaded shaft 9840′ isrotated in a second, or opposite, direction by the input shaft 9710, thedrive nut 9850′ is translated distally. The second output shaft 9860′comprises a bar fixedly mounted to the drive nut 9850′ such that thesecond output shaft 9860′ translates with the drive nut 9850′. Thus, therotation of the rotatable input shaft 9710 translates the second outputshaft 9860′. The translatable second output shaft 9860′ extends throughan outer housing 9230′ of the elongate shaft 9200′ alongside therotatable/translatable first output shaft 9740′. As described in greaterdetail below, the first output shaft 9740′ drives a first end effectorfunction and a second end effector function while the second outputshaft 9860′ drives a third end effector function.

Further to the above, referring to FIGS. 72-75, the drive system furthercomprises a drive link 9870′ pivotably coupled to the second outputshaft 9860′. The drive link 9870′ extends across the articulation joint9300′ and is pivotably coupled to the outer housing 9430 of the distalattachment portion 9400′. When the input shaft 9710 is rotated in thefirst direction and the drive link 9870′ is pulled proximally by thedrive nut 9850′, the distal attachment portion 9400′ and the endeffector 9500 are articulated in a first articulation direction. Whenthe input shaft 9710 is rotated in the second direction and the drivelink 9870′ is pushed distally by the drive nut 9850′, referring to FIG.75, the distal attachment portion 9400′ and the end effector 9500 arearticulated in a second, or opposite, articulation direction. Thethreaded interface between the threaded shaft 9840′ and the drive nut9850′ prevents, or at least inhibits, the articulation drive from beingback-driven, or unintentionally articulated. As a result, the endeffector 9500 is held in position when the shifter gear 9820 is shiftedout of engagement with the second gear 9830 and into engagement with thefirst gear 9730. Notably, the first output shaft 9740′ is not involvedin the articulation of the end effector 9500. In fact, the first outputshaft 9740′ is in its disengaged position such that the distal end 9744of the first output shaft 9740′ is not engaged with the drive screw 9750when the end effector 9500 is being articulated.

Further to the above, the first output shaft 9740′ is used toselectively rotate the end effector 9500 about a longitudinal axis. Thefirst output shaft 9740′ is also used to selectively operate the jawdrive to open and close the end effector 9500. The first drive positionof the first rotatable output shaft 9740′ is used to rotate the endeffector 9500 of the shaft assembly 9000′ about a longitudinal axis. Asillustrated in FIGS. 76 and 77, the distal end 9744 of the first outputshaft 9740′ is seated, but not completely seated, within the drivesocket 9354 defined in the drive screw 9350 when the first output shaft9740′ is in its first drive position. Notably, however, the drive lock9340 is not engaged with the outer housing 9530 of the end effector 9500and, as a result, the outer housing 9530 rotates with the drive screw9350. In such instances, the rotation of the first output shaft 9740′ istransferred to the drive screw 9350 to rotate the entire end effector9500, as described above. The second drive position of the firstrotatable output shaft 9740′ is used to open and close the jaws 9510 and9520. As illustrated in FIGS. 78 and 79, the distal end 9744 of thefirst output shaft 9740′ is completely seated within the drive socket9354 defined in the drive screw 9350 when the first output shaft 9740′is in its second drive position. Notably, the drive lock 9340 is engagedwith the outer housing 9530 of the end effector 9500 and, as a result,the drive screw 9350 rotates relative to the outer housing 9530. In suchinstances, the rotation of the first output shaft 9740′ opens and closesthe jaws 9510 and 9520—depending on the direction in which the firstoutput shaft 9740′ is rotated.

The reader should appreciate that the proximal, intermediate, and distaldrive positions of the output shaft 9740 of the shaft assembly 9000 areanalogous to the proximal, intermediate, and distal drive positions ofthe first output shaft 9740′. More specifically, the output shaft 9740is operable to articulate the end effector 9500 when the output shaft9740 is in its proximal position, while the end effector 9500 isarticulated, by the second output shaft 9860′, when the first outputshaft 9740′ is in its proximal position. Moreover, the output shaft 9740is operable to rotate the end effector 9500 when the output shaft 9740is in its intermediate position while, likewise, the first output shaft9740′ is operable to rotate the end effector 9500 when the first outputshaft 9740′ is in its intermediate position. Similarly, the output shaft9740 is operable to open and close the end effector 9500 when the outputshaft 9740 is in its distal position while, likewise, the first outputshaft 9740′ is operable to open and close the end effector 9500 when thefirst output shaft 9740′ is in its distal position.

The output shaft 9740 of the shaft assembly 9000 and/or the first outputshaft 9740′ of the shaft assembly 9000′ are comprised of a unitary pieceof material. Such an arrangement reduces the possibility of the outputshafts 9740 and 9740′ failing under load. That said, alternativeembodiments are envisioned in which the output shafts 9740 and/or 9740′are comprised of two or more components. Referring to FIGS. 80 and 81, adrive shaft 9740″ comprises a first shaft component 9740 a″ and a secondshaft component 9740 b″. The first shaft component 9740 a″ comprises adrive aperture defined therein and the second shaft component 9740 b″ ispositioned in the drive aperture. The drive aperture comprises aconfiguration which is configured to transmit torque between the firstshaft component 9740 a″ and the second shaft component 9740 b″, yetpermit relative translational movement between the first shaft component9740 a″ and the second shaft component 9740 b″. Such an arrangement isuseful to accommodate the articulation of an end effector when the driveshaft 9740″ extends through an articulation joint, for example. In suchinstances, the interconnection between the first shaft component 9740 a″and the second shaft component 9740 b″ can comprise an extension jointwhich allows the drive shaft 9740″ to extend in length when the endeffector is articulated.

Referring to FIG. 57, the drive shaft 9740″ is similar to the driveshaft 9740 in many respects, most of which will not be discussed hereinfor the sake of brevity. Similar to the drive shaft 9740, the driveshaft 9740″ is translated proximally and distally to shift an endeffector between drive modes and then rotated to drive the end effectorin the selected drive mode. That said, the drive shaft 9740″ comprisesan extension joint in the proximal drive system which facilitates thetranslation and rotation of the drive shaft 9740″. This extension jointof the drive shaft 9740″ comprises a drive aperture 9885″ defined in aproximal rack portion 9880″ of the drive shaft 9740″ and, in addition, aproximal splined portion 9745″ slideably positioned in the driveaperture 9885″. Similar to the above, the drive aperture 9885″ comprisesa configuration configured to transmit torque between the proximalsplined portion 9745″ and the distal portion of the shaft 9740″ yetpermit relative translation therebetween. In such an arrangement, theproximal splined portion 9745″ does not need to move relative to thegear 9730 in order to accommodate the distal displacement of the shaft9740″. Such an arrangement reduces the possibility that the gear 9730may be pulled out of engagement with the shifter gear 9820, for example.

Further to the above, the rotation lock 9330, which is configured toengage the end effector 9500 to prevent the end effector 9500 fromrotating about its longitudinal axis as described above, is alsoconfigured to releasably attach the end effector 9500 to the shaftassembly 9000 and/or shaft assembly 9000′. When the end effector 9500 isassembled to the shaft assembly 9000, for example, the rotation lock9330 engages the annular array of teeth 9534 defined around theperimeter of the end effector housing 9530 to releasably hold the endeffector 9500 in position. When the drive shaft 9740 is in its firstposition, the drive lock 9340 blocks the rotation lock 9330 from beingrotated to release the end effector 9500. In order to release the endeffector 9500 from the shaft assembly 9000, the drive shaft 9740 can beadvanced distally to move the drive lock 9340 distally and allow therotation lock 9330 to rotate so that the end effector 9500 can be pulledlongitudinally away from the shaft assembly 9000. In at least oneinstance, the drive shaft 9740 must be moved into its third, or distal,drive position in order to release the end effector 9500.

A surgical system 120000 is illustrated in FIGS. 82 and 83. The surgicalsystem 120000 comprises a handle, a shaft assembly 120020 extending fromthe handle, and an end effector releasably attachable to the shaftassembly 120020. The shaft assembly 120020 comprises an elongate shaft120021 including a distal end 120022 and a longitudinal aperture 120023extending therethrough. The shaft assembly 120020 further comprises adrive member movably positioned in the longitudinal aperture 120023which is movable longitudinally by a drive system in the handle. The endeffector comprises a frame that is mounted to a frame of the elongateshaft 120021 when the end effector is attached to the shaft assembly120020. The end effector further comprises a drive member that isoperably connected to the drive member of the shaft assembly 120020 whenthe end effector is attached to the shaft assembly 120020. The distalend of the shaft drive member comprises a cradle, or connector,configured to receive the proximal end of the end effector drive member.The cradle is configured to constrain the relative movement between theshaft drive member and the end effector drive member except for thedirection, or degree of freedom, in which the end effector drive memberwas attached to the shaft drive member. In at least one instance, theshaft drive member comprises a longitudinal axis and the end effectordrive member is loaded into the cradle in a direction which istransverse to the longitudinal axis.

Further to the above, referring again to FIGS. 82 and 83, the shaftassembly 120020 further comprises a lock configured to constrain thedegree of freedom in the loading direction between the shaft drivemember and the end effector drive member. In at least one instance, theshaft assembly 120020 comprises a lock 120024 which is slidlongitudinally to constrain the movement of the end effector drivemember such that it cannot be detached from the shaft drive member. Thelock 120024 is slid distally to lock the drive members together andproximally to unlock the drive members so that the drive members can bedetached. In various instances, the handle comprises a control which,when actuated, can cause the control system of the surgical system120000 to lock or unlock the lock 120024. The lock 120024 is not biasedinto either its locked or unlocked position; however, alternativeembodiments are envisioned in which the lock 120024 is biased into itslocked position. In such embodiments, the shaft assembly 120020comprises a biasing member, such as a spring, for example, configured topush the lock 120024 distally toward its locked position. That said, thebiasing member can be overcome by the clinician and/or by an actuator,such as a solenoid, for example, which pushes the lock 120024 proximallyto unlock the coupling between the shaft drive member and the endeffector drive member. In either event, the shaft assembly 120020 cancomprise a release mechanism at the distal end thereof, i.e., at theinterconnection between the shaft assembly 120020 and the end effector,which can unlock the lock 120024. In addition to or in lieu of theabove, the handle can comprise a release mechanism which can unlock thelock 120024.

A surgical system 120100 is illustrated in FIG. 84. The surgical system120100 comprises a handle, a shaft assembly 120120 extending from thehandle, and an end effector 120130 releasably attachable to the shaftassembly 120120. The shaft assembly 120120 comprises an elongate shaft120121 including a distal end 120122. The shaft assembly 120120 furthercomprises a first rotatable drive shaft 120140 driven by a firstelectric motor, a second rotatable drive shaft 120150 driven by a secondelectric motor, and a third rotatable drive shaft 120160 driven by athird electric motor. The first, second, and third electric motors arepositioned in the shaft assembly 120120 and/or the handle. The endeffector 120130 comprises an elongate shaft 120131 attachable to theelongate shaft 120121 of the shaft assembly 120120. The end effector120130 includes a first drive shaft 120130′ operably couplable to thefirst drive shaft 120130, a second drive shaft 120140′ operablycouplable to the second drive shaft 120140, and a third drive shaft120160′ operably couplable to the third drive shaft 120160 when the endeffector 120130 is assembled to the shaft assembly 120120.

Further to the above, the shaft assembly 120120 and the end effector120130 comprise co-operating features which properly align the threesets of drive shafts when the end effector 120130 is assembled to theshaft assembly 120120. For instance, the shaft assembly 120120 comprisesalignment pins 120125 which are configured to be received withinalignment slots 120135 defined in the end effector shaft 120131 whichare configured to lock the end effector 120130 to the shaft assembly120120 as the end effector 120130 is rotated relative to the shaftassembly 120120. In various instances, such a connection can comprise abayonet connection. In addition to or in lieu of these alignmentfeatures, the shaft assembly 120120 and the end effector 120130 cancomprise magnetic alignment features which align the end effector 120130relative to the shaft assembly 120120. The distal end 120122 of theshaft assembly 120120 comprises a first group of permanent magnets120123 and a second group of permanent magnets 120124 embedded therein.The permanent magnets 120123 have positive poles facing distally and thesecond permanent magnets 120124 have negative poles facing distally.Similarly, the proximal end 120132 of the end effector shaft 120131comprises a first group of permanent magnets 120133 and a second groupof permanent magnets 120134 embedded therein. The first permanentmagnets 120133 have positive poles facing proximally and the secondpermanent magnets 120134 have negative poles facing proximally. When theproximal end 120132 of the end effector 120130 is brought into proximitywith the distal end 120122 of the shaft assembly 120120, the magnetsprevent the end effector 120130 from being attached from the shaftassembly 120120 in a misaligned manner.

In various instances, further to the above, a first handle comprisesthree electric motors to drive the first, second, and third drive shafts120140, 120150, and 120160. In at least one instance, the first driveshaft 120140 of the shaft assembly 120120 articulates the distal end ofthe end effector 120130 about an articulation joint, the second driveshaft 120150 of the shaft assembly 120120 opens and closes the jaws ofthe end effector 120130, and the third drive shaft 120160 rotates thedistal end of the end effector 120130 about a longitudinal axis. Thatsaid, other handles can comprise less than three electric motors and donot drive all of the first, second, and third drive shafts 120140,120150, and 120160. In at least one such instance, a second handlecomprises two electric motors which drive two of the shaft assemblydrive shafts. The second handle is configured such that the shaftassembly 120120 is attached to the second handle in a manner in whichthe first drive shaft 120140 and the second drive shaft 120150 of theshaft assembly 120120 are operably coupled with the electric motors ofthe second handle. The third drive shaft 120160 is not operably coupledwith an electric motor in such instances. As a result, the rotation ofthe distal end of the end effector 120130 would have to be performedmanually by the clinician by rotating the entire surgical system 120100about the longitudinal axis. In at least one instance, the first handlecomprises a pistol grip configuration and the second handle comprises ascissors grip configuration. A third handle may have only one electricmotor for driving only one of the shaft assembly drives. In at least onesuch instance, the third handle comprises a pencil grip configurationand the shaft assembly 120120 is attached to the third handle in amanner in which the first drive shaft 120140, the articulation driveshaft, is operably coupled to the only drive motor. Other arrangementsare possible.

A surgical system 120200 is illustrated in FIG. 85. The surgical system120200 comprises a handle 120210 and a shaft assembly 120220 attached tothe handle 120210. The shaft assembly 120220 comprises a frame 120221and four rotatable drive shafts—a first drive shaft 120240, a seconddrive shaft 120250, a third drive shaft 120260, and a fourth drive shaft120270. The four drive shafts are rotatable independently of one anotherto perform different functions of the surgical system 120200. The handle120210 comprises an electric motor 120212 comprising a rotatable outputand a rotatable drive shaft 120215 which are operably connected by agear train 120214. The rotatable drive shaft 120215 is selectivelyengageable with the four drive shafts of the shaft assembly 120220 toselectively drive one of the four drive shafts at a time. The handle120210 further comprises a rotatable shifter 120216 configured to placethe drive shaft 120215 in one of four distinct and discrete drivepositions in which the drive shaft 120215 is operably engaged with oneof the four drive shafts 120240, 120250, 120260, and 120270. Therotatable shifter 120216 comprises a throughhole 120217 defined thereinthrough which the drive shaft 120215 extends. The throughhole 120217comprises sidewalls configured to push the drive shaft 120215 betweenthe four drive positions when the shifter 120216 is rotated. The shifter120216 comprises a lever, or protrusion, 120218 extending therefromwhich a clinician can use to rotate the shifter 120216. That said, thehandle 120210 can comprise an electric motor and actuator for shiftingthe shifter 120216 between its four drive positions.

Further to the above, the shifting system of the handle 120210 comprisesa frame, or shift block, 120211 configured to releasably hold the driveshaft 120215 in its four drive positions. The shift block 120211comprises four drive slots 120213 defined therein which correspond tothe four drive positions of the drive shaft 120215. The sidewalls ofeach drive slot 120213 are configured to prevent, or at least inhibit,lateral movement and/or deflection of the drive shaft 120215 until thedrive shaft 120215 is moved into a different position by the shifter120216. In various instances, the sidewalls of two adjacent drive slots120213 form a peak 120219 therebetween which prevents, or at leastinhibits, the drive shaft 120215 from unintentionally hopping out of adrive slot 120213. As a result of the four peaks 120219 distinctlydefining the four drive positions of the drive shaft 120215, the shiftblock 120211 comprises a quad-stable compliant system. The apex of eachpeak 120219 is rounded such that the drive shaft 120215 does not getstuck intermediate one of the four stable drive positions, or driveslots 120213. The reader should appreciate that the drive shaft 120215may flex inwardly when moving between drive slots 120213 and that theresilient inward bending of the drive shaft 120215 stores energy in thedrive shaft 120215 which seeks to reactively seat the drive shaft 120215in the nearest drive slot 120213.

A surgical system 120300 is depicted in FIGS. 86-86C. The surgicalsystem 120300 is similar to the surgical system 120200 in many respects.Referring primarily to FIG. 86A, the shift block 120311 of the surgicalsystem 120300 comprises peaks 120319 positioned intermediate drive slots120313. The peaks 120219 of the shift block 120211 are comprised ofsolid material while each of the peaks 120319 of the shift block 120311is comprised of a leaf spring. Similar to the above, the leaf springs ofthe peaks 120319 prevent, or at least inhibit, the unintentionalshifting of the drive shaft out of a drive slot 120313. Referringprimarily to FIG. 86B, the leaf springs are configured to deflect as thedrive shaft is being shifted between drive positions, or drive slots,120313 and then resiliently return to their undeflected configurationsonce the drive shaft has passed thereby. This resiliency of the leafsprings also prevents, or inhibits, the drive shaft from becoming stuckin an intermediate, or unstable, position as the leaf springs act toresiliently undeflect and push the drive shaft into one of the driveslots 120313. The four stable positions of the shift blocks 120211 and120311 are 90 degrees, or approximately 90 degrees, apart. That said, ashaft assembly having three drive shafts has three drive positions and acorresponding shift block comprises three drive slots spaced 120degrees, or approximately 120 degrees, apart. In any event, a shaftassembly can comprise any suitable number of drive shafts and thecorresponding shift block can comprise a corresponding number of driveslots that are evenly spaced apart.

A surgical system 120500 is depicted in FIGS. 88A and 88B. The surgicalsystem 120500 comprises a handle, a shaft 120520 extending from thehandle, and an end effector extending from the shaft 120520. The handlecomprises a single rotatable drive shaft 120510 configured toselectively drive a first drive shaft 120540, a second drive shaft120550, and a third drive shaft 120560 via a shiftable transmission120590. The drive shaft 120510 comprises a pinion gear 120515 mounted tothe distal end thereof which is operably engaged with a transmissionshaft 120595 such that the rotation of the drive shaft 120510 istransferred to the transmission shaft 120595. The transmission shaft120595 is shiftable between three drive positions—a first drive positionin which the transmission shaft 120595 is operably engaged with thefirst drive shaft 120540 (FIG. 88A), a second drive position in whichthe transmission shaft 120595 is operably engaged with the second driveshaft 120550 (FIG. 88B), and a third drive position in which thetransmission shaft 120595 is operably engaged with the third drive shaft120560. The transmission 120590 is rotated between its first, second,and third drive positions by a rotatable shifter 120580. The shifter120580 comprises a shift arm 120585 fixedly mounted thereto whichcomprises a bearing aperture defined therein—the sidewalls of whichrotatably support the transmission shaft 120595 when the transmissionshaft 120595 is operably engaged with one of the three drive shafts120540, 120550, and 120560. The three drive positions comprise a middle,or top-dead-center, position in which the transmission shaft 120595 isengaged with the first drive shaft 120540 (FIG. 88A), a lateral positionapproximately 120 degrees to one side of the top-dead-center position inwhich the transmission shaft 120595 is engaged with the second driveshaft 120550 (FIG. 88B), and another lateral position approximately 120degrees to the other side of the top-dead-center position in which thetransmission shaft 120595 is engaged with the third drive shaft 120560.

A surgical system 120400 is depicted in FIGS. 87A-87D. The surgicalsystem 120400 comprises a handle, a shaft 120420 extending from thehandle, and an end effector 120430 connected to the shaft 120420 aboutan articulation joint. The handle comprises a rotatable input shaft120410 shiftable longitudinally between a distal position (FIGS. 87C and87D) in which the input shaft 120410 is operably engaged with anarticulation drive shaft 120440 and a proximal position (FIGS. 87A and87B) in which the input shaft 120410 is operably engaged with a jawdrive shaft 120450. The input shaft 120410 comprises a pinion gear120415 defined on the distal thereof that is operably meshed with apinion gear 120445 defined on the articulation drive shaft 120440 whenthe input shaft 120140 is in its distal position and operably meshedwithin a pinion gear 120455 defined on the jaw drive shaft 120450 whenthe input shaft 120140 is in its proximal position. The articulationdrive shaft 120440 comprises a bevel gear fixedly mounted thereto whichis operably meshed with a bevel gear fixedly mounted to a frame 120431of the end effector 120430 such that, when the input shaft 120410 isoperably engaged with the articulation drive shaft 120440 and thearticulation drive shaft 120440 is rotated in a first direction, the endeffector 120430 is articulated in a first direction. Similarly, thearticulation drive shaft 120440 is rotated in a second, or opposite,direction, to articulate the end effector 120430 in a second, oropposite, direction.

The jaw drive shaft 120450 comprises a threaded distal end which isthreadably engaged with a drive nut 120435 which is translated distallywhen the jaw drive shaft 120450 is rotated in a first direction andtranslated proximally when the jaw drive shaft 120450 is rotated in asecond, or opposite, direction. The end effector 120430 furthercomprises a first jaw 120432 and a second jaw 120434 pivotably coupledto one another and pivotably coupled to the drive nut 120435 such thatthe jaws 120432 and 120434 are opened when the drive nut 120435 ispushed distally and closed when the drive nut 120435 is pulledproximally. Notably, the entire drive shaft 120450 is depicted in FIGS.87A-87C, but not in FIG. 87D. The drive shaft 120450 has been truncatedin FIG. 87D to better show the articulation joint, but the reader shouldunderstand that the drive shaft 120450 bends to accommodate thearticulation motion. Other embodiments are envisioned in which the driveshaft 120450 comprises at least one universal joint, for example, toaccommodate the articulation motion.

As described above, referring again to FIGS. 87A-87D, the input shaft120410 is translatable to selectively engage the articulation drivesystem and the jaw drive system and then rotatable to drive the systemthat it is engaged with. That said, the input shaft 120410 may not beable to drive, or at least properly drive, the articulation drive systemor the jaw drive system if the input shaft 120410 is in a positionintermediate the proximal drive position and the distal drive position.To this end, the surgical system 120400 comprises a biasing memberconfigured to push the input shaft 120410 into its distal position inwhich the input shaft 120410 is operably engaged with the articulationdrive system. In order to move the input shaft 120410 into its proximalposition, an electric actuator must overcome this biasing force.Alternatively, the biasing member is configured to push the input shaft120410 into its proximal position in which the input shaft 120410 isoperably engaged with the jaw drive system.

Further to the above, the frame of the shaft 120420 comprises arotatable portion 120431 which permits the jaws 120430 to rotate about alongitudinal shaft axis (FIGS. 87A and 87C). In various instances, thesurgical system comprises a drive system configured to rotate the jaws120430 about the longitudinal axis.

In various instances, an input shaft is shiftable between two or morepositions to drive two or more functions of a surgical system. Asurgical system 120600 is depicted in FIG. 89 which comprises a handle,a shaft assembly 120620 extending from the handle, and an end effector120630 extending from the shaft assembly 120620. The end effector 120630is rotatably coupled to the shaft assembly 120620 about a rotation joint120690 configured to permit the end effector 120630 to be rotated abouta longitudinal axis. The surgical system 120600 further comprises a jawdrive shaft 120650 configured to open and close the jaws of the endeffector 120630 and, also, a rotation drive shaft 120660 configured torotate the end effector 120630 about the longitudinal shaft axis. Therotation drive shaft 120660 comprises a pinion gear 120661 mounted tothe distal end thereof which is operably intermeshed with a ring of gearteeth defined in the interior of the end effector housing 120631 suchthat the rotation of the rotation drive shaft 120660 is transferred tothe end effector 120630. Similar to the above, the handle comprises aninput shaft which is shiftable between a first position in which theinput shaft is operably coupled to the jaw drive shaft 120650 and asecond position in which the input shaft is operably coupled to therotation drive shaft 120660. Also, similar to the above, the input shaftcan be biased into the first or second position by a biasing member. Inat least one embodiment, the input drive is shiftable into a thirdposition to engage an articulation drive shaft of an articulation drivesystem.

A surgical system 120700 is depicted in FIGS. 90-93. The surgical system120700 comprises a handle, a shaft assembly 120720 extending from thehandle, and an end effector releasably attachable to the shaft assembly120720. Similar to the above, the end effector comprises first andsecond jaws that are movable between open and closed positions. Thesurgical system 120700 further comprises an articulation joint 120780about which the end effector can be rotated relative to the shaftassembly 120720. Moreover, the surgical system 120700 further comprisesa rotation joint 120790 which permits the end effector to be rotatedrelative to the shaft assembly 120720 about a longitudinal end effectoraxis. As described in greater detail below, the surgical system 120700comprises a first drive system 120740 to rotate the shaft assembly120720 about a longitudinal shaft axis and articulate the end effectorand, also, a second drive system 120750 to rotate the end effectorrelative to the shaft assembly 120720 about the longitudinal endeffector axis and drive the jaws between their open and closedpositions.

The first drive system 120740 of the surgical system 120700 comprises anelectric actuator 120742 and an input shaft 120744. The electricactuator 120742 is configured to rotate and translate the input shaft120744. The input shaft 120744 comprises a spur gear 120745 fixedlymounted to the distal end thereof such that the spur gear 120745 rotatesand translates with the input shaft 120744. The spur gear 120745 isoperably meshed with a spur gear 120747 fixedly mounted to anarticulation actuator 120741 which is keyed (FIG. 91) to a shaft housing120748 such that the rotation of the input shaft 120744 is transferredto the shaft housing 120748. The shaft housing 120748 is sufficientlycoupled to the frame of the shaft assembly 120720 such that, when theelectric actuator 120742 rotates the input shaft 120744, the input shaft120744 rotates the shaft assembly 120720. Notably, the articulationactuator 120741 comprises a proximal flange 120746 positioned proximallywith respect to the spur gear 120747 and a distal flange 120749positioned distally with respect to the spur gear 120747. The proximalflange 120746 and the distal flange 120749 are configured to prevent thespur gears 120745 and 120747 from translating and becoming operablydemeshed from one another. Moreover, the proximal flange 120746 and thedistal flange 120749 are configured to be driven proximally and distallyby the spur gear 120745 as discussed in greater detail below.

Further to the above, the electric actuator 120742 is configured totranslate the drive shaft 120744 proximally and distally to articulatethe end effector about the articulation joint 120780. When the driveshaft 120744 is pushed distally by the electric actuator 120742, thespur gear 120745 pushes distally on the distal flange 120749 extendingfrom the articulation actuator 120741. Correspondingly, the spur gear120745 pulls proximally on the proximal flange 120746 extending from thearticulation actuator 120741 when the drive shaft 120744 is pulledproximally by the electric actuator 120742. The articulation actuator120741 is coupled to a distal end 120722 of the shaft assembly 120720such that the distal translation of the articulation actuator 120741articulates the distal shaft end 120722, and the end effector mountedthereto, in a first direction and such that the proximal translation ofthe articulation actuator 120741 articulates the distal shaft end 120722and the end effector in a second, or opposite, direction.

The second drive system 120750 of the surgical system 120700 comprisesan electric actuator 120752 and a drive shaft 120754. The electricactuator 120752 is configured to rotate and translate the drive shaft120754. Referring primarily to FIG. 92, a flexible drive shaft 120756 ismounted to the drive shaft 120754 such that the flexible drive shaft120756 rotates and translates with the drive shaft 120754. The flexibledrive shaft 120756 comprises a laser-cut steel tube, for example, butcould comprise any suitable configuration. The flexible drive shaft120756 extends through the articulation joint 120780 and at least partof the distal shaft end 120722 and is configured to accommodate thearticulation of the distal shaft end 120722. The flexible drive shaft120756 is coupled to the end effector such that, when the flexible driveshaft 120756 is rotated by the electric actuator 120752, the flexibledrive shaft 120756 rotates the end effector about the rotation joint120790. Moreover, the flexible drive shaft 120756 is coupled to the jawdrive of the end effector such that the longitudinal translation of theflexible drive shaft 120756 opens and closes the jaws of the endeffector.

As discussed above, the surgical system 120700 is configured to drivefour independent motions—end effector rotation, shaft rotation, endeffector articulation, and end effector actuation. These functions canbe performed at the same time and/or at different times. In at least oneinstance, it is beneficial to rotate the end effector and the shaft atthe same time so that their rotation is synchronized. Otherwise, aclinician may be surprised to discover that the end effector is notturning with the shaft when what they wanted in the first place was toreorient the end effector. That said, the end effector can be rotatedindependently of the shaft.

FIG. 93 depicts a longitudinal passage extending through the shaftassembly 120720 which is configured for signal and/or power conductorsto extend there through.

Further to the above, the rotation of the end effector, the actuation ofthe end effector, the rotation of the shaft, and the articulation of theend effector can occur sequentially in any suitable order. That said,referring to FIGS. 104-108, two or more of these functions can occur atthe same time. A surgical system 124100 is depicted in FIG. 105. Thesurgical system 124100 comprises a shaft assembly 124120 and an endeffector 124130 rotatably connected to the shaft assembly 124120 aboutan articulation joint 124180. Moreover, the end effector 124130 isrotatable relative to the shaft assembly 124120 about a rotation joint124190. When the surgical system 124100 is attached to a handle having asufficient number of drive systems, referring to FIGS. 105 and 106, theend effector 124130 can be rotated and articulated at the same time, forexample. Such an arrangement can provide a smooth motion of the endeffector 124130. When the surgical system 124100 is not attached to ahandle having a sufficient number of drive systems, referring to FIGS.107 and 108, the end effector 124130 would have to be rotated andarticulated sequentially using a shiftable drive.

A surgical system 121000 is illustrated in FIGS. 94-95B. The surgicalsystem 121000 comprises a handle 121010 and a shaft assembly 121020releasably attachable to the handle 121010. The shaft assembly 121020comprises three drive systems and the handle 121010 comprises threedrive outputs, but only two motors to drive the three drive outputs. Oneof the motors in the handle 121010 can be dedicated to driving one ofthe drives of the shaft assembly 121020. The other motor in the handle121010, i.e. motor 121011, is configured to selectively drive the othertwo drives of the shaft assembly 121020. The motor 121011 comprises arotatable output shaft 121012 and an elongate spur gear 121013 fixedlymounted to the output shaft 121012. The output shaft 121012 isselectively couplable with a first drive shaft 121040 and a second driveshaft 121050 by a transmission 121090. The transmission 120190 comprisesa transfer gear 121015 slideably engaged with the elongate gear 121013.The transfer gear 121015 is slideable between a first position in whichthe transfer gear 121015 is operably intermeshed with the elongate spurgear 121013 and a first spur gear 121045 fixedly mounted to the firstdrive shaft 121040 and a second position in which the transfer gear121015 is operably intermeshed with the elongate spur gear 121013 and asecond spur gear 121055 fixedly mounted to the second drive shaft121050. The transmission 121090 further comprises a shifting mechanism121014 configured to move the transfer gear 121015 between its first andsecond positions. Such an arrangement allows the handle 121010 to beused to drive all three drive systems of the shaft assembly 121020,although the drive systems driven by the first drive shaft 121040 andthe second drive shaft 121050 cannot be driven at the same time as thespur gears 121045 and 121055 are separated such that the transfer gear121015 cannot drive spur gears 121045 and 121055 at the same time.

A surgical system 122000 is illustrated in FIGS. 96 and 97. The surgicalsystem 122000 comprises a handle 122010, a handle 122010′, and a shaftassembly 122020 selectively attachable to the handle 122010 (FIG. 96)and the handle 122010′ (FIG. 97). Referring to FIG. 96, the handle122010 comprises two rotatable drive outputs which are operablycoupleable with two drive systems of the shaft assembly 122020. Thehandle 122010 comprises a first drive output which is operably engagedwith a first rotatable drive shaft 122040 and a second drive outputwhich is operably engaged with a second rotatable drive shaft 122050when the shaft assembly 122020 is attached to the handle 122010. Thefirst drive shaft 122040 comprises a longitudinal splined portion 122047and a spur gear 122097 slideably supported on the splined portion 122047such that the rotation of the first drive shaft 122040 is transferred tothe spur gear 122097 and, as described in greater detail below, the spurgear 122097 is slideable into another, or second position, when theshaft assembly 122020 is attached to the handle 122010′ instead. Whilethe shaft assembly 122020 is attached to the handle 122010, however, thespur gear 122097 is in its first position illustrated in FIG. 96 and isoperably intermeshed with a spur gear 122067 fixedly mounted to arotatable drive shaft 122060. In such instances, as a result, therotation of the first drive shaft 122040 is transferred to the driveshaft 122060 which can drive a function of the surgical system 122000.Also, in such instances, the second drive shaft 122050 is rotatable todrive a second function of the surgical system 122000 independently ofthe first drive shaft 122040.

Notably, further to the above, the shaft assembly 122020 furthercomprises a handle detection system 122090 configured to detect whetherthe shaft assembly 122020 is attached to the handle 122010 or the handle122010′. The handle detection system 122090 comprises a switch element122095 extending proximally from the proximal end of the shaft assembly122020. When the shaft assembly 122020 is attached to the handle 122010(FIG. 96), the switch element 122095 extends into a clearance aperture122015 defined in the housing of the handle 122010. The switch element122095 is biased proximally by a biasing element, such as a spring, forexample, such that the switch element 122095 does not contact, or close,a switch contact 122094 in the shaft assembly 122020 unless the switchelement 122095 is driven distally—which does not happen when the shaftassembly 122020 is attached to the handle 122010 because of theclearance aperture 122015. When the shaft assembly 122020 is attached tothe handle 122010′ (FIG. 97), however, the switch element 122095contacts the housing of the handle 122010′ and is driven distally intoengagement with the switch contact 122094. The closure of the switchelement 122095 actuates a solenoid 122092 of the handle detection system122090 which drives the transfer gear 122097 from its first position(FIG. 96) into its second position (FIG. 97) via a link arm 122093 and ashuttle 122096. When the transfer gear 122097 is in its second position,as illustrated in FIG. 97, the transfer gear 122097 is no longeroperably intermeshed with the spur gear 122067 of the drive shaft 122060and is, instead, operably intermeshed with a spur gear 122057 fixedlymounted to the second drive shaft 122050. In such instances, therotation of the first drive shaft 122040 is transferred to the seconddrive shaft 122050 instead of the drive shaft 122060. Such anarrangement allows the second drive shaft 122050 to always be driven bya motor-driven drive regardless of whether the shaft assembly 122020 isattached to the handle 122010, which has a second independently drivableoutput, or the handle 122010′ which does not have a second independentlydrivable output. When the shaft assembly 122020 is detached from thehandle 122010′, the biasing member pushes the switch element 122095distally once again which opens the switch contact 122094. As a result,the solenoid 122092, or a return spring of the solenoid 122092, returnsthe transfer gear 122097 back into its first position. In variousembodiments, the shaft assembly 122020 comprises a power source, such asa battery, for example, configured to operate the solenoid 122092.

FIGS. 98-103 illustrate a surgical system 123000. The surgical system123000 comprises a handle 123010 and a shaft assembly 123020 extendingfrom the handle 123010. The handle 123010 comprises a first driveoutput, a second drive output, and a third drive output. The first driveoutput is manually-driven, which means that it is powered by theclinician's hand to drive a first function of the surgical system123000. In at least one instance, the first drive output rotates theshaft assembly 123020 about a longitudinal axis. The second drive outputis driven by an electric motor and the third drive output is driven byanother electric motor. The second drive output drives a second functionof the surgical system 123000 and the third drive output drives a thirdfunction of the surgical system 123000. In various instances, theoperation of the first drive output can affect the second functionand/or the third function of the surgical system 123000. To this end,the handle 123010 comprises a system configured to monitor themanually-driven first drive system and automatically adjust thecondition of the second and/or third drive system based on the movementof the first drive system. In at least one instance, the handle 123010comprises an encoder, for example, configured to monitor the rotation ofa rotational member of the first drive system. The encoder is in signalcommunication with the control system of the surgical system 123000which is also in signal communication with the electric motors of thesecond and third drive systems. In various instances, the control systemcan operate the electric motors of the second and/or third drive systemswhen the control system detects the motion of the first drive system viathe encoder, for example. In at least one instance, the second drivesystem rotates the end effector, or distal head, of the shaft assembly123020 about a longitudinal axis and, when the shaft assembly 123020 isrotated manually, the control system can operate the electric motor ofthe second drive system to maintain, or at least substantially maintain,the alignment between the distal head and the shaft assembly 123020 whenthe shaft assembly 123020 is rotated.

Referring to FIGS. 98, 99, and 101, the handle 123010 comprises a firstdrive system including a first electric drive motor 123110, a seconddrive system including a second electric drive motor 123210, and a thirddrive system including a third electric drive motor 123310. The firstdrive system is configured to drive a first function of the shaftassembly 123020. The second drive system is configured to drive a secondfunction of the shaft assembly 123020, and the third drive system isconfigured to drive a third function of the shaft assembly 123020. Thefirst electric drive motor 123110 comprises a rotatable drive shaft123120 and an output gear 123130 fixedly mounted to the drive shaft123120. The output gear 123130 is meshingly engaged with a ring of gearteeth surrounding a tubular drive shaft 123140 of the first drive systemsuch that the drive shaft 123140 is rotated when the output gear 123130is rotated by the electric drive motor 123110. The drive shaft 123140 isoperably coupled, via a geared transmission (not shown), with a threadedoutput shaft 123150 rotatably supported in the shaft assembly 123030.The first drive system further comprises a drive nut 123160 threadablycoupled to the threaded output shaft 123150 such that, when the threadedoutput shaft 123150 is rotated by the tubular drive shaft 123140, thedrive nut 123160 is driven proximally or distally, depending on thedirection in which the threaded output shaft 123150 is rotated. Thefirst drive system further comprises a drive rod extending from thedrive nut 123160 which, in use, is configured to drive one or more endeffector functions.

The second electric drive motor 123210 comprises a rotatable drive shaft123220 and an output gear 123230 fixedly mounted to the drive shaft123220. The output gear 123230 is meshingly engaged with a ring of gearteeth surrounding a tubular drive shaft 123240 of the second drivesystem such that the drive shaft 123240 is rotated when the output gear123230 is rotated by the electric drive motor 123210. The drive shaft123240 is operably coupled with a spur gear 123250 meshingly engagedwith a ring of gear teeth defined on the drive shaft 123240 such thatthe spur gear 123250 is rotated when the drive shaft 123240 is rotated.The second drive system further comprises a threaded output shaft 123260that is rotatably supported in the shaft assembly 123030 and fixedlymounted to the spur gear 123250. The second drive system furthercomprises a drive nut threadably coupled to the threaded output shaft123260 such that, when the threaded output shaft 123260 is rotated bythe tubular drive shaft 123240, the drive nut is driven proximally ordistally, depending on the direction in which the threaded output shaft123260 is rotated.

The third electric drive motor 123310 comprises a rotatable drive shaft123320 and an output gear 123330 fixedly mounted to the drive shaft123320. The output gear 123330 is meshingly engaged with a ring of gearteeth surrounding a tubular drive shaft 123340 of the third drive systemsuch that the drive shaft 123340 is rotated when the output gear 123330is rotated by the electric drive motor 123310. The drive shaft 123340 isoperably coupled with a spur gear 123350 meshingly engaged with a ringof gear teeth defined on the drive shaft 123340 such that the spur gear123350 is rotated when the drive shaft 123340 is rotated. The seconddrive system further comprises a transfer shaft 123360 that is rotatablysupported in the shaft assembly 123030 and fixedly mounted to the spurgear 123350 and, in addition, another spur gear 123370. The spur gear123370 is operably intermeshed with a threaded output shaft 123380 whichis rotatably supported in the shaft assembly 123020. Similar to theabove, the third drive system further comprises a drive nut threadablycoupled to the threaded output shaft 123380 such that, when the threadedoutput shaft 123380 is rotated by the transfer shaft 123360, the drivenut is driven proximally or distally, depending on the direction inwhich the transfer shaft 123360 is rotated.

A surgical system 123000′ is illustrated in FIGS. 100 and 103. Thesurgical system 123000′ is similar to the surgical system 123000 in manyrespects. For instance, the surgical system 123000′ comprises threedrive motors, 123110, 123210, and 123310. The first electric drive motor123110 drives a first drive system of a shaft assembly 123020′ includinga rotatable output 123170′. The second electric drive motor 123210drives a second drive system of the shaft assembly 123020′ including atranslatable output 123260′, and the third electric drive motor 123310drives a third drive system of the shaft assembly 123020′ including arotatable output 123380′. Referring to FIG. 100, the shaft assembly123020 comprises a housing 123040′ and a frame 123030′ which rotatablysupports the rotatable outputs 123170′ and 123380′ and slideablysupports the translatable output 123260′. Having a translatable outputalongside one or more rotatable outputs provides a compact design.

A surgical system 123000″ is illustrated in FIG. 102. The surgicalsystem 123000″ is similar to the surgical system 123000 in manyrespects. For instance, the surgical system 123000″ comprises threedrive motors, 123110, 123210, and 123310. The first electric drive motor123110 drives a first drive system of a shaft assembly 123020″ includinga first rotatable output 123140″. The second electric drive motor 123210drives a second drive system of the shaft assembly 123020″ including asecond rotatable output 123240″, and the third electric drive motor123310 drives a third drive system of the shaft assembly 123020″including a third rotatable output 123340″. The first rotatable outputs123140″, 123240″, and 123340″ are concentrically nested. Such anarrangement provides a compact design such that the nested outputsprovide bearing support to one another.

A surgical system 124200 is illustrated in FIGS. 109 and 110. Thesurgical system 124200 comprises a handle, a shaft assembly 124200extending from the handle, and an end effector 124230. The shaftassembly 124220 comprises an input shaft 124210 configured to performtwo functions of the surgical system 124200 at the same time. Morespecifically, the input shaft 124210 is configured to simultaneouslydrive a clip feeding drive 124240 configured to advance a clip 124290into the jaws 124232 of the end effector 124230 during a feeding strokeand a crimping drive 124250 configured to deform the clip 124290 duringa crimping stroke. The input shaft 124210 comprises a first threadedsection 124212 and a second threaded section 124214. The first threadedsection 124212 and the second threaded section 124214 have oppositethreads, i.e., one has left-hand threads and the other has right-handthreads. Referring to FIG. 109, the clip feeding drive 124240 isthreadably engaged with the second threaded section 124214 of the driveshaft 124210 and is advanced distally to perform the clip feeding strokewhen the drive shaft 124210 is rotated in a first direction. Referringagain to FIG. 109, the clip crimping drive 124250 is threadably engagedwith the first threaded section 124212 of the drive shaft 124210 and isretracted proximally when the drive shaft 124210 is rotated in the firstdirection. Correspondingly, referring to FIG. 110, the clip feedingdrive 124240 is retracted proximally and the clip crimping drive 124250is advanced distally to perform the clip crimping stroke when the driveshaft 124210 is rotated in a second, or opposite, direction. As aresult, the clip feeding stroke and the crimping stroke are notperformed at the same time; rather, they are performed in an alternatingmanner. Further to the above, the drive shaft 124210 comprises flanges124211 and 124213 extending therefrom configured to keep the clipfeeding drive 124240 and the clip crimping drive 124250 from becomingdecoupled from their respective threaded portions of the drive shaft124210.

As discussed above, the first threaded section 124212 and the secondthreaded section 124214 have opposite threads, i.e., one has left-handthreads and the other has right-hand threads, which means that the clipfeeding drive and the clip crimping drive move in opposite directions.In various instances, the threads of the first threaded section 124212,or first threads, have a first pitch and the threads of the secondthreaded section 124214, or second threads, have a second pitch which isthe same as the first pitch. Such an arrangement would cause the clipfeeding drive and the clip crimping drive to move at the same speed andwould be useful when the stroke of the clip feeding drive and the strokeof the clip crimping drive have the same length. Alternatively, thefirst pitch and the second pitch are different. Such an arrangementwould cause the clip feeding drive and the clip crimping drive to moveat different speeds and would be useful when the stroke of the clipfeeding drive and the stroke of the clip crimping drive have differentlengths. Embodiments in which the clip feeding system and the clipcrimping system are operated by different drive shafts could be operatedat different speeds, operated at different or overlapping times, and/oroperated to provide different stroke lengths.

As discussed above, the first threaded section 124212 and the secondthreaded section 124214 drive different functions of the surgical system124200. In at least one instance, the first threaded section 124212 canbe adapted to perform a first function of a surgical system and thesecond threaded section 124214 can be adapted to lock out the firstfunction in certain instances.

Ad discussed above, the drive shaft 124210 is rotatable to translate twodifferent drive members. That said, the drive shaft 124210, itself, isnot translatable; however, alternative embodiments are envisioned inwhich the drive shaft 124210 is both rotatable and translatable. In atleast one instance, one of the drives driven by the drive shaft 124210can be fixed to a frame of the shaft assembly such that the rotation ofthe drive shaft 124210 displaces the drive shaft 124210 longitudinally.The rotation of the drive shaft 124210 would also drive the second drivesystem longitudinally at the same time. Such an arrangement can amplify,or double, the drive motion created by the rotation of the drive shaft124210.

A surgical system 125000 is illustrated in FIGS. 111A-111C. The surgicalsystem 125000 comprises a handle, a shaft assembly 125020 extending fromthe handle, and an end effector extending from the shaft assembly125020. The shaft assembly 125020 comprises a rotatable drive shaft125010 and a drive nut 125030 mounted thereto which is configured totranslate longitudinally between a first, or proximal, position and asecond, or distal, position to shift the shaft assembly 125020 between afirst operating configuration and a second operating configuration. Thedrive nut 125030 comprises a first set of drive projections 125034 and asecond set of drive projections 125035 extending therefrom. When thedrive nut 125030 is in its first, or proximal, position, as illustratedin FIG. 111B, the first drive projections 125034 are operably engagedwith a first drive gear 125044 mounted to a frame 125040 of the endeffector such that the rotation of the drive shaft 125010 is transferredto the frame 125040 and the end effector rotates about a longitudinalaxis. When the drive nut 125030 is in its second, or distal, position,as illustrated in FIG. 111C, the second drive projections 125035 areoperably engaged with a second drive gear 125055 of a jaw drive system125050 of the end effector such that the rotation of the drive shaft125010 opens and closes the jaws of the end effector, depending on thedirection in which the drive shaft 125010 is turned. Notably, the firstdrive gear 125044 and the second drive gear 125055 are spaced apartsufficiently such that the drive nut 125030 is not operably engaged withthe end effector rotation drive and the jaw drive at the same time.

Moreover, the shaft assembly 125020 further comprises a biasing member,such as a spring, for example, configured to bias the drive nut 125044into one of the first and second positions such that the drive nut125044 does not get stuck in an intermediate position. In at least oneinstance, the shaft assembly 125020 comprises a bi-stable compliantmechanism configured to bias the drive nut 125044 toward the closestposition of the first and second positions.

A surgical system 125100 is illustrated in FIG. 112. The surgical system125100 comprises a handle, a shaft assembly 125120 extending from thehandle, and an end effector releasably attachable to the shaft assembly125120. The shaft assembly 125120 comprises an elongate portion 125121and a distal portion 125122 rotatably connected to the elongate portion125121 about an articulation joint 125180. The distal portion 125122 ofthe shaft assembly 125120 comprises a rotation joint 125190 configuredto permit the end effector to rotate relative to the shaft assembly125120 about a longitudinal axis. The shaft assembly 125120 furthercomprises a drive shaft 125110 configured to be rotated to rotate theend effector about its longitudinal axis and, also, translatedproximally and distally to open and close the jaws of the end effector.The shaft assembly 125120 also comprises push-pull articulationactuators 125412 and 125414 which are moved proximally and distally atthe same time, but in different directions, to articulate the distalshaft end 125122 and the end effector about the articulation joint125180. The articulation actuators 125412 and 125414 are drivenlongitudinally by a rotatable input drive 125140 threadably engaged withthe proximal ends of the articulation actuators 125412 and 125414.

Notably, further to the above, the drive shaft 125110, which extendsthrough the articulation joint 125180, is sufficiently flexible toaccommodate the articulation of the end effector. Moreover, the driveshaft 125110 comprises an expansion joint which accommodates theexpansion and contraction of the drive shaft 125110 that may occur whenthe drive shaft 125110 flexes to accommodate the articulation of the endeffector. The drive shafts depicted in FIG. 92, for example, can providesuch expansion and contraction.

A surgical system 126000 is illustrated in FIGS. 113A and 113B. Thesurgical system 126000 comprises a handle, a shaft assembly 126020extending from the handle, and an end effector 126030 releasablyattachable to the shaft assembly 126020. The shaft assembly 126020comprises a frame 126021 and a distal end, wherein the distal end isrotatably connected to the frame 126021 about an articulation joint126080. The shaft assembly 126020 further comprises a rotatable driveshaft 126040 configured to articulate the distal shaft end—and the endeffector 126030 attached thereto—about the articulation joint 126080.When the drive shaft 126040 is rotated in a first direction, the endeffector 126030 is articulated in a first direction and, when the driveshaft 126040 is rotated in a second direction, the end effector 126030is articulated in a second, or opposite, direction. The end effector126030 comprises a frame 126031 rotatably connected to the distal end ofthe shaft assembly 126020 about a rotation joint 126090 such that theend effector 126030 can rotate relative to the shaft assembly 126020about a longitudinal axis. The end effector 126030 further comprisesjaws 126032 which are drivable into an open position to dissect thetissue of a patient and/or a closed position to grasp the tissue of apatient, for example. The shaft assembly 126020 comprises a rotatabledrive shaft 126010 which, as described in greater detail below, isshiftable between first and second positions to selectively rotate theend effector 126030 about the rotation joint 126090 and to drive thejaws 126032 between their open and closed positions.

Further to the above, the drive shaft 126010 of the shaft assembly126020 comprises a distal end which is engaged with a drive element126050 positioned in the end effector 126030 when the end effector126030 is assembled to the shaft assembly 126020. The drive element126050 comprises a socket configured to releasably engage the distal endof the drive shaft 126010 such that the drive element 126050 rotates andtranslates with the drive shaft 126010. The drive shaft 126010 and thedrive element 126050 are positionable in a first, or proximal, positionin which the drive element 126050 is engaged with a geared face of theend effector frame 126031. In such instances, the end effector 126030rotates with the drive shaft 126010. More specifically, the end effector126030 rotates in a first direction when the drive shaft 126010 isrotated in a first direction and in a second, or opposite, directionwhen the drive shaft 126010 is rotated in a second, or opposite,direction. The drive shaft 126010 and the drive element 126050 are alsopositionable in a second, or distal, position in which the drive element126050 is engaged with the jaw drive such that jaws 126032 are movedinto their closed position when the drive shaft 126010 is rotated in afirst direction and into their open position when the drive shaft 126010is rotated in a second, or opposite, direction.

Referring to FIG. 113A, the end effector 126030 is releasably attachableto the shaft assembly 126020. To assemble the end effector 126030 to theshaft assembly 126020, referring to FIG. 113B, the end effector 126030and the shaft assembly 126020 are moved toward one another along alongitudinal axis until the frame 126031 of the end effector 126030couples to the rotation joint 126090. The rotation joint 126090comprises flexible locks 126091 which deflect inwardly as the endeffector 126030 is being attached to the shaft assembly 126020 and thenresiliently deflect outwardly to lock behind lock shoulders defined inthe end effector frame 126031. At the same time that the end effectorframe 126031 is being coupled to the rotation joint 126090, the driveshaft 126010 is being coupled to the end effector drive element 126050as described above. The shaft assembly 126020 further comprises locksupports 126092 configured to hold the flexible locks 126091 in theirlocked configuration to prevent the end effector 126030 from becomingunintentionally decoupled from the shaft assembly 126020. The locksupports 126092 are retractable by the clinician to permit the flexiblelocks 126091 to deflect and allow the end effector 126030 to be detachedfrom the shaft assembly 126020.

As discussed above, the distal end of the drive shaft 126010 isconfigured to be releasably engaged with a socket defined in the driveelement 126050 such that the drive element 126050 is retained to thedrive shaft 126010. This can be accomplished by the interconnectiondepicted in FIG. 114, for example, discussed below.

A surgical system 126100 is illustrated in FIG. 114. The surgical system126100 comprises a handle, a shaft assembly extending from the handle,and an end effector releasably attachable to the shaft assembly. Theshaft assembly comprises a rotatable drive shaft 126120 which is engagedwith a rotatable drive shaft 126130 of the end effector when the endeffector is assembled to the shaft assembly. The distal end of the driveshaft 126020 comprises a hex head configuration, for example, comprisinga plurality of flexible lock arms 126122 separated by one or moreclearance slots 126124 defined in the drive shaft 126020. The clearanceslots 126124 permit the lock arms 126122 to deflect inwardly when thedistal end of the drive shaft 126020 is inserted into a hexagonal drivesocket, for example, defined in the proximal end of the end effectordrive shaft 126130. The drive socket comprises a lead-in, or ramp,126132 configured to receive the distal end of the drive shaft 126120.In such instances, the lock arms 126122 of the drive shaft 126120 engagethe ramp 126132 and deflect inwardly. As the drive shaft 126010 ispushed deeper into the drive socket, the lock arms 126122 clear the apexof the ramp 126132 and resiliently deflect outwardly behind a back ramp126134. At such point, the lock arms 126122 are substantiallyconstrained by the sidewalls 126138 of the drive socket and the rotationof the drive shaft 16120 is transferrable to the end effector driveshaft 126130. The back ramp 126134 inhibits the drive shaft 126120 frombecoming decoupled from the end effector shaft 126130; however, thedrive shaft 126120 can be detached from the end effector 126130 if asufficient relative pulling force is applied thereto. In such instances,the lock arms 126122 would deflect inwardly once again to cross over theapex between the ramp 126132 and the back ramp 126134. The drive socketfurther comprises a slot or groove 126136 configured to provideclearance for the lock arms 126122 to deflect.

A surgical system 127000 is illustrated in FIGS. 115-117. The surgicalsystem 127000 comprises a handle, a shaft assembly 127020 extending fromthe handle, and an end effector attachable to the shaft assembly 127020.The shaft assembly 127020 comprises an elongate portion 127021 and adistal end portion 127022 rotatably connected to the elongate portion127021 about an articulation joint 127080. The shaft assembly 127020further comprises an articulation drive system 127010 configured toarticulate the distal end portion 127022 of the shaft assembly 127020about the articulation joint 127080. The articulation drive system127010 comprises an electric drive motor 127011 and a rotatable driveshaft 127012 including a threaded end which is rotated by the drivemotor 127011. The threaded end of the drive shaft 127012 is threadablyengaged with a shifter 127040 configured to be selectively engaged witha first, or left, articulation bar 127050 and a second, or right,articulation bar 127060 of the articulation drive system 127010. Whenthe shifter 127040 is engaged with the left articulation bar 127050, asillustrated in FIG. 115, the drive shaft 127012 can be rotated to pullthe left articulation bar 127050 proximally and articulate the distalend portion 127022, and the end effector attached thereto, to the left.The drive shaft 127012 can be rotated in the opposite direction toreturn the distal end portion 127022 back to its unarticulated positionusing the left articulation bar 127050. Notably, the shifter 127040 isnot operably engaged with the right articulation bar 127060 when theshifter 127040 is operably engaged with the left articulation bar127050.

Further to the above, the left articulation bar 127050 comprises aninwardly-extending arm 127054 which is grabbed by the shifter 127040 topush and pull the left articulation bar 127050. The left articulationbar 127050 also comprises a distal end coupled to the distal end portion127022 at a pin joint 127052 configured to transfer the translationalmotion of the left articulation bar 127050 to the distal end portion127022 and articulate the end effector. When the shifter 127040 isengaged with the right articulation bar 127060, as illustrated in FIG.116, the drive shaft 127012 can be rotated to pull the rightarticulation bar 127060 proximally and articulate the distal end portion127022 and the end effector to the right. The drive shaft 127012 can berotated in the opposite direction to return the distal end portion127022 back to its unarticulated position using the right articulationbar 127060. The right articulation bar 127060 comprises aninwardly-extending arm 127064 which is grabbed by the shifter 127040 topush and pull the right articulation bar 127050. The right articulationbar 127060 also comprises a distal end coupled to the distal end portion127022 at a pin joint 127052 configured to transfer the translationalmotion of the right articulation bar 127060 to the distal end portion127022 to articulate the end effector. Notably, the shifter 127040 isnot operably engaged with the left articulation bar 127050 when theshifter 127040 is operably engaged with the left articulation bar127060.

Referring primarily to FIG. 117, the shaft assembly 127020 comprises ashift block 127030 fixedly mounted to the elongate portion 127021 of theshaft assembly 127020. The shift block 127030 is configured to confinethe motion of the shifter 127040 such that the shifter 127040 moveslongitudinally to push and pull the left articulation bar 127050 whenthe shifter 127040 is rotated to the left and push and pull the rightarticulation bar 127050 when the shifter 127050 is rotated to the right,as described above. The shift block 127030 comprises a guide track127032 defined therein which defines the motion path for the shifter127040. The shifter 127040 comprises a projection 127042 extendingtherefrom which is positioned in the guide track 127032 and isconfigured to follow the path defined by the guide track 127032. Theguide track 127032 comprises a left longitudinal slot 127034, a rightlongitudinal slot 127036, and a central slot 127035 extending betweenand connecting the left longitudinal slot 127034 and the rightlongitudinal slot 127036. When the shifter 127040 is rotated to theleft, the projection 127042 is positioned in the left longitudinal slot127034 which constrains the shifter 127040 from rotating and limits themotion of the shifter 127040 to longitudinal motion within the leftlongitudinal slot 127034. When the drive shaft 127012 is rotated in afirst direction in such instances, the shifter 127040 moves proximallywithin the left longitudinal slot 127034 and, when the drive shaft127012 is rotated in a second, or opposite, direction, the shifter127040 moves distally within the left longitudinal slot 127034. When theshifter 127040 is rotated to the right, the projection 127042 ispositioned in the right longitudinal slot 127036 which constrains theshifter 127040 from rotating and limits the motion of the shifter 127040to longitudinal motion within the right longitudinal slot 127036. Whenthe drive shaft 127012 is rotated in a first direction in suchinstances, the shifter 127040 moves proximally within the rightlongitudinal slot 127036 and, when the drive shaft 127012 is rotated ina second, or opposite, direction, the shifter 127040 moves distallywithin the right longitudinal slot 127036. The central slot 127035permits the shifter 127040 to be rotated by the drive shaft 127012between the left and right longitudinal slots 127034 and 127036 asmentioned above.

A shaft assembly 127020′ of a surgical system 127000′ is illustrated inFIGS. 118 and 119 and is similar to the shaft assembly 127020 in manyrespects. That said, the shaft assembly 127020′ further comprises a leftarticulation bar 127050′ that comprises two portions connected by apivot. Similarly, the shaft assembly 127020′ comprises a rightarticulation bar 127060′ that also comprises two portions connected by apivot. Such articulation bars can permit larger articulations, such as90 degrees to the left and right, for example, of the distal end portion127022 and the end effector attached thereto. The shaft assembly 127020′further comprises a left biasing member 127055′ configured to apply abiasing force to the left articulation bar 127050′ and a right biasingmember 127065′ configured to apply a biasing force to the rightarticulation bar 127050′ which co-operate to bias the distal end portion127022, and the end effector attached thereto, to an unarticulatedposition, as illustrated in FIG. 118.

A surgical system 127100 is illustrated in FIG. 120. The surgical system127100 comprises a handle, a shaft assembly 127120 extending from thehandle, and an end effector releasably attachable to the shaft assembly127120. The shaft assembly 127120 includes a distal end portion 127122rotatable about an articulation joint 127180. The end effector isreleasably attachable to the distal end portion 127122 such that the endeffector articulates with the distal end portion 127122. The shaftassembly 127120 further comprises a first, or left, articulationactuator 127150 configured to pull the distal end portion 127122 to theleft and a second, or right, articulation actuator 127160 configured topull the distal end portion 127122 to the right. The left articulationactuator 127150 and the right articulation actuator 127160 are flexibleto accommodate the articulation of the distal end portion 127122. Invarious instances, such an arrangement can accommodate approximately 60degrees of articulation to the left and approximately 60 degrees ofarticulation to the right.

A surgical system 127200 is illustrated in FIG. 121. The surgical system127200 comprises a handle, a shaft assembly 127220 extending from thehandle, and an end effector releasably attachable to the shaft assembly127220. The shaft assembly 127220 includes a distal end portion 127222rotatable about an articulation joint. The end effector is releasablyattachable to the distal end portion 127222 such that the end effectorarticulates with the distal end portion 127222. The shaft assembly127220 further comprises a first, or left, articulation actuator 127250configured to pull the distal end portion 127222 to the left and asecond, or right, articulation actuator 127260 configured to pull thedistal end portion 127222 to the right. The left articulation actuator127250 comprises a first link 127251 and a second link 127253 rotatablyconnected at a pin joint 127252. The second link 127253 is flexible, orat least more flexible than the first link 127251. To this end, thesecond link 127253 comprises notches 127254 defined therein to make thesecond link 127253 flexible. Similarly, the right articulation actuator127260 comprises a first link 127261 and a second link 127263 rotatablyconnected at a pin joint 127262. The second link 127263 is flexible, orat least more flexible than the first link 127261. To this end, thesecond link 127263 comprises notches 127264 defined therein to make thesecond link 127263 flexible. In various instances, such an arrangementcan accommodate approximately 90 degrees of articulation to the left andapproximately 90 degrees of articulation to the right.

A surgical system 127300 is illustrated in FIG. 122. The surgical system127300 comprises a handle, a shaft assembly 127320 extending from thehandle, and an end effector releasably attachable to the shaft assembly127320. The shaft assembly 127320 includes a distal end portion 127322rotatable about an articulation joint. The end effector is releasablyattachable to the distal end portion 127322 such that the end effectorarticulates with the distal end portion 127322. The shaft assembly127320 further comprises a first, or left, articulation actuator 127350configured to pull the distal end portion 127322 to the left, but itdoes not comprise a second, or right, articulation actuator configuredto pull the distal end portion 127322 to the right. The leftarticulation actuator 127350 is flexible to accommodate the articulationof the distal end portion 127322. In various instances, such anarrangement can provide more articulation in the left direction than theright direction.

A surgical system 128000 is illustrated in FIG. 123. The surgical system128000 comprises a handle, a shaft 128020 extending from the handle, andan end effector 128030 extending from the shaft 128020. In alternativeembodiments, the surgical system 128000 comprises a housing configuredto be mounted to a robotic surgical system. In at least one suchembodiment, the shaft 128020 extends from the robotic housing mountinstead of the handle. In either event, the end effector 128030comprises jaws 128040 and 128050 which are closeable to grasp a target,such as the tissue T of a patient and/or a suture needle, for example,as discussed in greater detail below. The jaws 128040 and 128050 arealso openable to dissect the tissue of a patient, for example. In atleast one instance, the jaws 128040 and 128050 are insertable into thepatient tissue to create an otomy therein and then spread to open theotomy, as discussed in greater detail below.

Referring again to FIG. 123, the jaws 128040 and 128050 are pivotablycoupled to the shaft 128020 about a pivot joint 128060. The pivot joint128060 defines a fixed axis of rotation, although any suitablearrangement could be used. The jaw 128040 comprises a distal end, ortip, 128041 and an elongate profile which narrows from its proximal endto its distal end 128041. Similarly, the jaw 128050 comprises a distalend, or tip, 128051 and an elongate profile which narrows from itsproximal end to its distal end 128051. The distance between the tips128041 and 128051 define the mouth width, or opening, 128032 of the endeffector 128030. When the tips 128041 and 128051 are close to oneanother, or in contact with one another, the mouth 128032 is small, orclosed, and the mouth angle θ is small, or zero. When the tips 128041and 128051 are far apart, the mouth 128032 is large and the mouth angleθ is large.

Further to the above, the jaws of the end effector 128030 are driven bya jaw drive system including an electric motor. In use, a voltagepotential is applied to the electric motor to rotate the drive shaft ofthe electric motor and drive the jaw drive system. The surgical system128000 comprises a motor control system configured to apply the voltagepotential to the electric motor. In at least one instance, the motorcontrol system is configured to apply a constant DC voltage potential tothe electric motor. In such instances, the electric motor will run at aconstant speed, or an at least substantially constant speed. In variousinstances, the motor control system comprises a pulse width modulation(PWM) circuit and/or a frequency modulation (FM) circuit which can applyvoltage pulses to the electric motor. The PWM and/or FM circuits cancontrol the speed of the electric motor by controlling the frequency ofthe voltage pulses supplied to the electric motor, the duration of thevoltage pulses supplied to the electric motor, and/or the durationbetween the voltage pulses supplied to the electric motor.

The motor control system is also configured to monitor the current drawnby the electric motor as a means for monitoring the force being appliedby the jaws of the end effector 128030. When the current being drawn bythe electric motor is low, the loading force on the jaws is low.Correspondingly, the loading force on the jaws is high when the currentbeing drawn by the electric motor is high. In various instances, thevoltage being applied to the electric motor is fixed, or held constant,and the motor current is permitted to fluctuate as a function of theforce loading at the jaws. In certain instances, the motor controlsystem is configured to limit the current drawn by the electric motor tolimit the force that can be applied by the jaws. In at least oneembodiment, the motor control system can include a current regulationcircuit that holds constant, or at least substantially constant, thecurrent drawn by the electric motor to maintain a constant loading forceat the jaws.

The force generated between the jaws of the end effector 128030, and/oron the jaws of the end effector 128030, may be different depending onthe task that the jaws are being used to perform. For instance, theforce needed to hold a suture needle may be high as suture needles aretypically small and it is possible that a suture needle may slip duringuse. As such, the jaws of the end effector 128030 are often used togenerate large forces when the jaws are close together. On the otherhand, the jaws of the end effector 128030 are often used to applysmaller forces when the jaws are positioned further apart to performlarger, or gross, tissue manipulation, for example.

Referring to the upper portion 128110 of the graph 128100 illustrated inFIG. 124, the loading force, f, experienced by the jaws of the endeffector 128030 can be limited by a force profile stored in the motorcontrol system. The force limit profile 128110 o for opening the jaws128040 and 128050 is different than the force limit profile 128110 c forclosing the jaws 128040 and 128050. This is because the proceduresperformed when forcing the jaws 128040 and 128050 open are typicallydifferent than the procedures performed when forcing the jaws 128040 and128050 closed. That said, the opening and closing force limit profilescould be the same. While it is likely that the jaws 128040 and 128050will experience some force loading regardless of whether the jaws 128050are being opened or closed, the force limit profiles typically come intoplay when the jaws 128040 and 128050 are being used to perform aparticular procedure within the patient. For instance, the jaws 128040and 128050 are forced open to create and expand an otomy in the tissueof a patient, as represented by graph sections 128115 and 128116,respectively, of graph 128100, while the jaws 128040 and 128050 areforced closed to grasp a needle and/or the patient tissue, asrepresented by graph sections 128111 and 128112, respectively, of graph128100.

Referring again to FIG. 124, the opening and closing jaw force limitprofiles 128110 o and 128110 c, respectively, are depicted on theopposite sides of a zero force line depicted in the graph 128100. As canbe seen in the upper section 128110 of graph 128100, the jaw force limitthreshold is higher—for both force limit profiles 128110 o and 128110c—when the jaws 128040 and 128050 are just being opened from theirfully-closed position. As can also be seen in the upper section 128110of graph 128100, the jaw force limit threshold is lower—for both forcelimit profiles 128110 o and 128110 c—when the jaws 128040 and 128050 arereaching their fully-opened position. Such an arrangement can reduce thepossibility of the jaws 128040 and 128050 damaging adjacent tissue whenthe being fully opened, for example. In any event, the force that thejaws 128040 and 128050 are allowed to apply is a function of the mouthopening size between the jaws and/or the direction in which the jaws arebeing moved. For instance, when the jaws 128040 and 128050 are openedwidely, or at their maximum, to grasp large objects, referring to graphsection 128114 of upper graph section 128110, the jaw force f limit isvery low as compared to when the jaws 128040 and 128050 are more closedto perform gross tissue manipulation, referring to graph section 128113of upper graph section 128110. Moreover, different jaw force limitprofiles can be used for different jaw configurations. For instance,Maryland dissectors, which have narrow and pointy jaws, may have adifferent jaw force limit profile than a grasper having blunt jaws, forexample.

In addition to or in lieu of the above, the speed of the jaws 128040 and128050 can be controlled and/or limited by the motor control system as afunction of the mouth opening size between the jaws 128040 and 128050and/or the direction the jaws are being moved. Referring to the middleportion 128120 and lower portion 128130 of the graph 128100 in FIG. 124,the rate limit profile for moving the jaws 128040 and 128050 permits thejaws to be moved slowly when the jaws are near their closed position andmoved quickly when the jaws are near their open position. In suchinstances, the jaws 128040 and 128050 are accelerated as the jaws areopened. Such an arrangement can provide fine control over the jaws128040 and 128050 when they are close together to facilitate the finedissection of tissue, for example. Notably, the rate limit profile foropening and closing the jaws 128040 and 128050 is the same, but theycould be different in other embodiments. In alternative embodiments, therate limit profile for moving the jaws 128040 and 128050 permits thejaws to be moved quickly when the jaws are near their closed positionand slowly when the jaws are near their open position. In suchinstances, the jaws 128040 and 128050 are decelerated as the jaws areopened. Such an arrangement can provide fine control over the jaws128040 and 128050 when the jaws are being used to stretch an otomy, forexample. The above being said, the speed of the jaws 128040 and 128050can be adjusted once the jaws experience loading resistance from thepatient tissue, for example. In at least one such instance, the jawopening rate and/or the jaw closing rate can be reduced once the jaws128040 and 128050 begin to experience force resistance above athreshold, for example.

In various instances, further to the above, the handle of the surgicalsystem 128000 comprises an actuator, the motion of which tracks, or issupposed to track, the motion of the jaws 128040 and 128050 of the endeffector 128030. For instance, the actuator can comprise a scissors-gripconfiguration which is openable and closable to mimic the opening andclosing of the end effector jaws 128040 and 128050. The control systemof the surgical system 128000 can comprise one or more sensor systemsconfigured to monitor the state of the end effector jaws 128040 and128050 and the state of the handle actuator and, if there is adiscrepancy between the two states, the control system can take acorrective action once the discrepancy exceeds a threshold and/orthreshold range. In at least one instance, the control system canprovide feedback, such as audio, tactile, and/or haptic feedback, forexample, to the clinician that the discrepancy exists and/or provide thedegree of discrepancy to the clinician. In such instances, the cliniciancan make mental compensations for this discrepancy. In addition to or inlieu of the above, the control system can adapt its control program ofthe jaws 128040 and 128050 to match the motion of the actuator. In atleast one instance, the control system can monitor the loading forcebeing applied to the jaws and align the closed position of the actuatorwith the position of the jaws when the jaws experience the peak forceloading condition when grasping tissue. Similarly, the control systemcan align the open position of the actuator with the position of thejaws when the jaws experience the minimum force loading condition whengrasping tissue. In various instances, the control system is configuredto provide the clinician with a control to override these adjustmentsand allow the clinician to use their own discretion in using thesurgical system 128000 in an appropriate manner.

A surgical system 128700 is illustrated in FIGS. 125 and 126. Thesurgical system 128700 comprises a handle, a shaft assembly 128720extending from the handle, and an end effector 128730 extending from theshaft assembly 128720. In alternative embodiments, the surgical system128700 comprises a housing configured to be mounted to a roboticsurgical system. In at least one such embodiment, the shaft 128720extends from the robotic housing mount instead of the handle. In eitherevent, the end effector 128730 comprises shears configured to transectthe tissue of a patient. The shears comprise two jaws 128740 and 128750configured to transect the patient tissue positioned between the jaws128740 and 128750 as the jaws 128740 and 128750 are being closed. Eachof the jaws 128740 and 128750 comprises a sharp edge configured to cutthe tissue and are pivotably mounted to the shaft 128720 about a pivotjoint 128760. Such an arrangement can comprise bypassing scissorsshears. Other embodiments are envisioned in which one of the jaws 128740and 128750 comprises a knife edge and the other comprises a mandrelagainst the tissue is supported and transected. Such an arrangement cancomprise a knife wedge in which the knife wedge is moved toward themandrel. In at least one embodiment, the jaw comprising the knife edgeis movable and the jaw comprising the mandrel is stationary. The abovebeing said, embodiments are envisioned in which the tissue-engagingedges of one or both of the jaws 128740 and 128750 are not necessarilysharp.

As discussed above, the end effector 128730 comprises two scissor jaws128740 and 128750 movable between an open position and a closed positionto cut the tissue of a patient. The jaw 128740 comprises a sharp distalend 128741 and the jaw 128750 comprises a sharp distal end 128751 whichare configured to snip the tissue of the patient at the mouth 128731 ofthe end effector 128730, for example. That said, other embodiments areenvisioned in which the distal ends 128741 and 128751 are blunt and canbe used to dissect tissue, for example. In any event, the jaws aredriven by a jaw drive system including an electric drive motor, thespeed of which is adjustable to adjust the closure rate and/or openingrate of the jaws. Referring to the graph 128400 of FIG. 127, the controlsystem of the surgical system is configured to monitor the loading, orshear, force on the jaws 128740 and 128750 as the jaws 128740 and 128750are being closed and adaptively slow down the drive motor when largeforces, or forces above a threshold Fc, are experienced by the jaws128740 and 128750. Such large forces often occur when the tissue T beingcut by the jaws 128740 and 128750 is thick, for example. Similar to theabove, the control system can monitor the current drawn by the drivemotor as a proxy for the loading force being experienced by the jaws128740 and 128750. In addition to or in lieu of this approach, thecontrol system can be configured to measure the jaw loading forcedirectly by one or more load cells and/or strain gauges, for example.Once the loading force experienced by the jaws 128740 and 128750 dropsbelow the force threshold Fc, the control system can adaptively speed upthe jaw closure rate. Alternatively, the control system can maintain thelower closure rate of the jaws 128740 and 128750 even though the forcethreshold is no longer being exceeded.

The above-provided discussion with respect to the surgical system 128700can provide mechanical energy or a mechanical cutting force to thetissue of a patient. That said, the surgical system 128700 is alsoconfigured to provide electrosurgical energy or an electrosurgicalcutting force to the tissue of a patient. In various instances, theelectrosurgical energy comprises RF energy, for example; however,electrosurgical energy could be supplied to the patient tissue at anysuitable frequency. In addition to or in lieu of AC power, the surgicalsystem 128700 can be configured to supply DC power to the patienttissue. The surgical system 128700 comprises a generator in electricalcommunication with one or more electrical pathways defined in theinstrument shaft 128720 which can supply electrical power to the jaws128740 and 128750 and also provide a return path for the current. In atleast one instance, the jaw 128740 comprises an electrode 128742 inelectrical communication with a first electrical pathway in the shaft128720 and the jaw 128750 comprises an electrode 128752 in electricalcommunication with a second electrical pathway in the shaft 128720. Thefirst and second electrical pathways are electrically insulated, or atleast substantially insulated, from one another and the surroundingshaft structure such that the first and second electrical pathways, theelectrodes 128742 and 128752, and the tissue positioned between theelectrodes 128742 and 128752 forms a circuit. Such an arrangementprovides a bipolar arrangement between the electrodes 128742 and 128752.That said, embodiments are envisioned in which a monopolar arrangementcould be used. In such an arrangement, the return path for the currentgoes through the patient and into a return electrode positioned on orunder the patient, for example.

As discussed above, the tissue of a patient can be cut by using amechanical force and/or an electrical force. Such mechanical andelectrical forces can be applied simultaneously and/or sequentially. Forinstance, both forces can be applied at the beginning of a tissuecutting actuation and then the mechanical force can be discontinued infavor of the electrosurgical force finishing the tissue cuttingactuation. Such an approach can apply an energy-created hemostatic sealto the tissue after the mechanical cutting has been completed. In sucharrangements, the electrosurgical force is applied throughout theduration of the tissue cutting actuation. In other instances, themechanical cutting force, without the electrosurgical cutting force, canbe used to start a tissue cutting actuation which is then followed bythe electrosurgical cutting force after the mechanical cutting force hasbeen stopped. In such arrangements, the mechanical and electrosurgicalforces are not overlapping or co-extensive. In various instances, boththe mechanical and electrosurgical forces are overlapping andco-extensive throughout the entire tissue cutting actuation. In at leastone instance, both forces are overlapping and co-extensive throughoutthe entire tissue cutting actuation but in magnitudes or intensitiesthat change during the tissue cutting actuation. The above being said,any suitable combination, pattern, and/or sequence of mechanical andelectrosurgical cutting forces and energies could be used.

Further to the above, the surgical system 128700 comprises a controlsystem configured to co-ordinate the application of the mechanical forceand electrosurgical energy to the patient tissue. In various instances,the control system is in communication with the motor controller whichdrives the jaws 128740 and 128750 and, also, the electrical generatorand comprises one or more sensing systems for monitoring the mechanicalforce and electrosurgical energy being applied to the tissue. Systemsfor monitoring the forces within a mechanical drive system are disclosedelsewhere herein. Systems for monitoring the electrosurgical energybeing applied to the patient tissue include monitoring the impedance, orchanges in the impedance, of the patient tissue via the electricalpathways of the electrosurgical circuit. In at least one instance,referring to the graph 128800 in FIG. 128, the RF current/voltage ratioof the electrosurgical power being applied to the patient tissue by thegenerator is evaluated by monitoring the current and voltage of thepower being supplied by the generator. The impedance of the tissue andthe RF current/voltage ratio of the electrosurgical power are a functionof many variables such as the temperature of the tissue, the density ofthe tissue, the thickness of the tissue, the type of tissue between thejaws 128740 and 128750, the duration in which the power is applied tothe tissue, among others, which change throughout the application of theelectrosurgical energy.

Further to the above, the control system and/or generator of thesurgical system 128700 comprises one or more ammeter circuits and/orvoltmeter circuits configured to monitor the electrosurgical currentand/or voltage, respectively, being applied to the patient tissue.Referring again to FIG. 128, a minimum amplitude limit and/or a maximumamplitude limit on the current being applied to the patient tissue canbe preset in the control system and/or can be controllable by the userof the surgical instrument system through one or more input controls.The minimum and maximum amplitude limits can define a current envelopewithin which the electrosurgical portion of the surgical system 128700is operated.

In various instances, the control system of the surgical system 128700is configured to adaptively increase the electrosurgical energy appliedto the patient tissue when the drive motor slows. The motor slowing canbe a reaction to an increase in the tissue cutting load and/or anadaptation of the control system. Similarly, the control system of thesurgical system 128700 is configured to adaptively increase theelectrosurgical energy applied to the patient tissue when the drivemotor stops. Again, the motor stopping can be a reaction to an increasein the tissue cutting load and/or an adaptation of the control system.Increasing the electrosurgical energy when the electric motor slowsand/or stops can compensate for a reduction in mechanical cuttingenergy. In alternative embodiments, the electrosurgical energy can bereduced and/or stopped when the electric motor slows and/or stops. Suchembodiments can afford the clinician to evaluate the situation in alow-energy environment.

In various instances, the control system of the surgical system 128700is configured to adaptively decrease the electrosurgical energy appliedto the patient tissue when the drive motor speeds up. The motor speedingup can be a reaction to a decrease in the cutting load and/or anadaptation of the control system. Decreasing the electrosurgical energywhen the electric motor slows and/or stops can compensate for, orbalance out, an increase in mechanical cutting energy. In alternativeembodiments, the electrosurgical energy can be increased when theelectric motor speeds up. Such embodiments can accelerate the closure ofthe jaws and provide a clean, quick cutting motion.

In various instances, the control system of the surgical system 128700is configured to adaptively increase the speed of the drive motor whenthe electrosurgical energy applied to the patient tissue decreases. Theelectrosurgical energy decreasing can be a reaction to a change intissue properties and/or an adaptation of the control system. Similarly,the control system of the surgical system 128700 is configured toadaptively increase the speed of the drive motor when electrosurgicalenergy applied to the patient tissue stops in response to an adaptationof the control system. Increasing the speed of the drive motor when theelectrosurgical energy decreases or is stopped can compensate for areduction in electrosurgical cutting energy. In alternative embodiments,the speed of the drive motor can be reduced and/or stopped when theelectrosurgical energy decreases and/or is stopped. Such embodiments canafford the clinician to evaluate the situation in a low-energy and/orstatic environment.

In various instances, the control system of the surgical system 128700is configured to adaptively decrease the speed of the electric motorwhen the electrosurgical energy applied to the patient tissue increases.The electrosurgical energy increasing can be a reaction to a change intissue properties and/or an adaptation of the control system. Decreasingthe drive motor speed when the electrosurgical energy increases cancompensate for, or balance out, an increase in electrosurgical cuttingenergy. In alternative embodiments, the drive motor speed can beincreased when the electrosurgical energy increases. Such embodimentscan accelerate the closure of the jaws and provide a clean, quickcutting motion.

In various instances, the surgical system 128700 comprises controls,such as on the handle of the surgical system 128700, for example, that aclinician can use to control when the mechanical and/or electrosurgicalforces are applied. In addition to or in lieu of manual controls, thecontrol system of the surgical system 128700 is configured to monitorthe mechanical force and electrical energy being applied to the tissueand adjust one or the other, if needed, to cut the tissue in a desirablemanner according to one or more predetermined force-energy curves and/ormatrices. In at least one instance, the control system can increase theelectrical energy being delivered to the tissue once the mechanicalforce being applied reaches a threshold limit. Moreover, the controlsystem is configured to consider other parameters, such as the impedanceof the tissue being cut, when making adjustments to the mechanical forceand/or electrical energy being applied to the tissue.

The surgical instrument systems described herein are motivated by anelectric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In certain instances,the motors disclosed herein may comprise a portion or portions of arobotically controlled system. U.S. patent application Ser. No.13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example,discloses several examples of a robotic surgical instrument system ingreater detail, the entire disclosure of which is incorporated byreference herein.

The surgical instrument systems described herein can be used inconnection with the deployment and deformation of staples. Variousembodiments are envisioned which deploy fasteners other than staples,such as clamps or tacks, for example. Moreover, various embodiments areenvisioned which utilize any suitable means for sealing tissue. Forinstance, an end effector in accordance with various embodiments cancomprise electrodes configured to heat and seal the tissue. Also, forinstance, an end effector in accordance with certain embodiments canapply vibrational energy to seal the tissue. In addition, variousembodiments are envisioned which utilize a suitable cutting means to cutthe tissue.

EXAMPLES Example 1

A surgical instrument comprising a handle, a shaft comprising alongitudinal shaft axis, an end effector comprising a jaw assemblymovable between an open configuration and a clamped configuration, andan articulation joint. The articulation joint is distal with respect tothe shaft. The articulation joint rotatably connects the end effector tothe shaft. The surgical instrument further comprises an articulationdrive including a rotatable articulation drive shaft operably engagedwith the end effector. The end effector is rotatable about anarticulation axis by the articulation drive shaft. The surgicalinstrument further comprises a jaw drive including a translatable jawactuation shaft operably engaged with the jaw assembly. The jaw assemblyis movable between the open configuration and the clamped configurationby the translatable jaw actuation shaft.

Example 2

The surgical instrument of Example 1, wherein the end effector isselectively attachable to the shaft, wherein the translatable jawactuation shaft comprises a distal end, and wherein the jaw assemblycomprises a translatable member operably couplable with the distal endof the translatable jaw actuation shaft in a snap-fit manner when theend effector is attached to the shaft.

Example 3

The surgical instrument of Example 2, wherein the translatable membercomprises a socket, and wherein the distal end comprises arms configuredto flex when entering into the socket and resiliently return towardtheir unflexed configurations once seated in the socket.

Example 4

The surgical instrument of Example 3, wherein the end effector comprisesa longitudinal axis, and wherein the distal end is loaded into thesocket along the longitudinal axis when the end effector is attached tothe shaft.

Example 5

The surgical instrument of Examples 2, 3, or 4, wherein the end effectorcomprises at least two locks configured to releasably engage the shaftwhen the end effector is attached to the shaft to hold the end effectorto the shaft.

Example 6

A surgical instrument comprising a handle and a shaft assembly extendingfrom the handle. The shaft assembly comprises a drive shaft including adistal connector. The distal connector comprises a drive socket. Thesurgical instrument further comprises an end effector selectivelyattachable to the shaft assembly. The end effector comprises a driveelement that is inserted into the drive socket to connect the driveelement to the drive shaft when the end effector is attached to theshaft assembly. The surgical instrument further comprises a lock movablebetween an unlocked position and a locked position to lock the driveelement in the drive socket.

Example 7

The surgical instrument of Example 6, wherein the drive socket comprisesa flexible portion, wherein the lock constrains the flexible portionwhen the lock is in the locked position, and wherein the lock does notconstrain the flexible portion when the lock is in the unlockedposition.

Example 8

The surgical instrument of Examples 6 or 7, further comprising a biasingmember configured to position the lock in the locked position.

Example 9

The surgical instrument of Examples 6, 7 or 8, wherein the lock must bemoved into the unlocked position to detach the end effector from theshaft assembly.

Example 10

The surgical instrument of Examples 6, 7, 8, or 9, wherein the driveshaft comprises a longitudinal shaft axis and the drive socket comprisesa lateral opening facing away from the longitudinal shaft axis.

Example 11

A surgical instrument comprising a handle and a shaft assembly extendingfrom the handle. The shaft assembly comprises a drive shaft including alongitudinal axis and a distal connector. The distal connector comprisesa drive socket. The drive socket comprises a lateral opening facing awayfrom the longitudinal shaft axis. The surgical instrument furthercomprises an end effector selectively attachable to the shaft. The endeffector comprises a drive element that is inserted into the drivesocket to connect the drive element to the drive shaft when the endeffector is attached to the shaft assembly. The surgical instrumentfurther comprises a socket opening cover movable between an unlockedposition and a locked position to trap the drive element in the drivesocket and lock the drive element to the drive shaft.

Example 12

The surgical instrument of Example 11, further comprising a biasingmember configured to position the socket opening cover in the lockedposition.

Example 13

The surgical instrument of Examples 11 or 12, wherein the socket openingcover must be moved into the unlocked position to detach the endeffector from the shaft assembly.

Example 14

A surgical instrument comprising a handle and a shaft assembly extendingfrom the handle. The shaft assembly comprises a drive shaft including adistal connector. The surgical instrument further comprises an endeffector selectively attachable to the shaft assembly. The end effectorcomprises a drive element that is inserted into the distal connector toconnect the drive element to the drive shaft when the end effector isattached to the shaft assembly. The surgical instrument furthercomprises a lock movable between an unlocked position and a lockedposition to lock the drive element in the drive socket. The lock isbiased into the locked position such that the end effector isautomatically locked to the shaft assembly when the end effector isattached to the shaft assembly.

Example 15

The surgical instrument of Example 14, wherein the shaft assemblyextends distally from the handle, wherein the lock is retractedproximally to release the end effector from the shaft assembly.

Example 16

The surgical instrument of Examples 14 or 15, further comprising abiasing member configured to bias the lock into the locked position.

Example 17

The surgical instrument of Example 16, wherein the biasing membercomprises a spring.

Example 18

The surgical instrument of Example 16, wherein the biasing membercomprises an electrical lock actuator.

Example 19

The surgical instrument of Examples 14, 15, 16, 17, or 18, wherein theshaft assembly comprises a shaft frame, wherein the end effectorcomprises an end effector frame, and wherein the surgical instrumentfurther comprises a frame lock configured to releasably lock the endeffector frame to the shaft frame.

Example 20

A surgical instrument comprising a handle comprising a first electricmotor and a second electric motor. The surgical instrument furthercomprises a shaft assembly extending from the handle. The shaft assemblycomprises a rotatable input shaft operably coupled to the first electricmotor, a rotatable shifting shaft operably coupled to the secondelectric motor, a first rotatable drive shaft, and a second rotatabledrive shaft. The surgical instrument further comprises an end effectorextending from the shaft assembly. The end effector is configured toperform a first end effector function in response to the rotation of thefirst rotatable drive shaft. The end effector is configured to perform asecond end effector function in response to the rotation of the secondrotatable drive shaft. The rotatable shifting shaft is rotatable betweena first position and a second position. The rotatable input shaft isoperably coupled to the first rotatable drive shaft when the rotatableshifting shaft is in the first position. The rotatable input shaft isoperably coupled to the second rotatable drive shaft when the rotatableshifting shaft is in the second position.

Example 21

The surgical instrument of Example 20, wherein the end effectorcomprises a longitudinal axis, a jaw assembly, and a rotation joint. Thejaw assembly is movable between an open configuration and a closedconfiguration. The rotation of the first rotatable drive shaft in afirst direction moves the jaw assembly toward the closed configuration.The rotation of the first rotatable drive shaft in a second directionmoves the jaw assembly toward the open configuration. The jaw assemblyis rotatable about the longitudinal axis by the rotation of the secondrotatable drive shaft.

Example 22

The surgical instrument of Examples 20 or 21, wherein the rotatableinput shaft is rotatably supported by the rotatable shifting shaft.

Example 23

The surgical instrument of Examples 20, 21, or 22, wherein the shaftassembly comprises a first stop configured to stop the rotation of therotatable shifting shaft in the first position and a second stopconfigured to stop the rotation of the rotatable shifting shaft in thesecond position.

Example 24

The surgical instrument of Examples 20, 21, 22, or 23, wherein therotatable input shaft and the rotatable shifting shaft are rotatableabout a common longitudinal shaft axis.

Example 25

The surgical instrument of Examples 20, 21, 22, 23, or 24, wherein theshaft assembly further comprises a third rotatable drive shaft, whereinthe end effector is configured to perform a third end effector functionin response to the rotation of the third rotatable drive shaft, andwherein the rotatable shifting shaft is rotatable into a third positionto operably couple the rotatable input shaft with the third rotatabledrive shaft.

Example 26

The surgical instrument of Examples 20, 21, 22, 23, 24, or 25, furthercomprising a control system, wherein the first electric motor and thesecond electric motor are in communication with the control system, andwherein the control system is configured to control the operation of thefirst electric motor and the second electric motor.

Example 27

The surgical instrument of Example 26, wherein the control systemcomprises a first input control and a second input control, wherein thecontrol system operates the second electric motor to rotate therotatable shifting shaft into the first position when the first inputcontrol is actuated, and wherein the control system operates the secondelectric motor to rotate the rotatable shifting shaft into the secondposition when the second input control is actuated.

Example 28

The surgical instrument of Examples 26 or 27, wherein the control systemdoes not operate the first electric motor while operating the secondelectric motor.

Example 29

The surgical instrument of Example 27, wherein the control system isconfigured to operate the first electric motor before the rotatableshifting shaft is placed in the first position and the second positionby the second electric motor.

Example 30

A surgical assembly comprising a housing comprising a first electricmotor and a second electric motor. The surgical assembly furthercomprises a shaft assembly extending from the housing. The shaftassembly comprises a rotatable input shaft operably coupled to the firstelectric motor, a rotatable shifting shaft operably coupled to thesecond electric motor, a first rotatable drive shaft, and a secondrotatable drive shaft. The surgical assembly further comprises an endeffector extending from the shaft assembly. The end effector isconfigured to perform a first end effector function in response to therotation of the first rotatable drive shaft. The end effector isconfigured to perform a second end effector function in response to therotation of the second rotatable drive shaft. The rotatable shiftingshaft is rotatable between a first position and a second position. Therotatable input shaft is operably coupled to the first rotatable driveshaft when the rotatable shifting shaft is in the first position. Therotatable input shaft is operably coupled to the second rotatable driveshaft when the rotatable shifting shaft is in the second position.

Example 31

The surgical assembly of Example 30, wherein the end effector comprisesa longitudinal axis, a jaw assembly, and a rotation joint. The jawassembly is movable between an open configuration and a closedconfiguration. The rotation of the first rotatable drive shaft in afirst direction moves the jaw assembly toward the closed configuration.The rotation of the first rotatable drive shaft in a second directionmoves the jaw assembly toward the open configuration. The jaw assemblyis rotatable about the longitudinal axis by the rotation of the secondrotatable drive shaft.

Example 32

The surgical assembly of Examples 30 or 31, wherein the rotatable inputshaft is rotatably supported by the rotatable shifting shaft.

Example 33

The surgical assembly of Examples 30, 31, or 32, wherein the shaftassembly comprises a first stop configured to stop the rotation of therotatable shifting shaft in the first position and a second stopconfigured to stop the rotation of the rotatable shifting shaft in thesecond position.

Example 34

The surgical assembly of Examples 30, 31, 32, or 33, wherein therotatable input shaft and the rotatable shifting shaft are rotatableabout a common longitudinal shaft axis.

Example 35

The surgical assembly of Examples 30, 31, 32, 33, or 34, wherein theshaft assembly further comprises a third rotatable drive shaft, whereinthe end effector is configured to perform a third end effector functionin response to the rotation of the third rotatable drive shaft, andwherein the rotatable shifting shaft is rotatable into a third positionto operably couple the rotatable input shaft with the third rotatabledrive shaft.

Example 36

The surgical assembly of Examples 30, 31, 32, 33, 34, or 35, furthercomprising a control system, wherein the first electric motor and thesecond electric motor are in communication with the control system, andwherein the control system is configured to control the operation of thefirst electric motor and the second electric motor.

Example 37

The surgical assembly of Example 36, wherein the control systemcomprises a first input control and a second input control, wherein thecontrol system operates the second electric motor to rotate therotatable shifting shaft into the first position when first inputcontrol is actuated, and wherein the control system operates the secondelectric motor to rotate the rotatable shifting shaft into the secondposition when the second input control is actuated.

Example 38

The surgical assembly of Examples 36 or 37, wherein the control systemdoes not operate the first electric motor while operating the secondelectric motor.

Example 39

The surgical assembly of Examples 36, 37, or 38, wherein the controlsystem is configured to operate the first electric motor before therotatable shifting shaft is placed in the first position and the secondposition by the second electric motor.

Example 40

The surgical assembly of Examples 30, 31, 32, 33, 34, 35, 36, 37, 38, or39, wherein the housing is configured to be mounted to a roboticsurgical system.

Example 41

A surgical instrument comprising a handle and a shaft assembly extendingfrom the handle. The handle comprises a first electric motor and asecond electric motor. The shaft assembly comprises a rotatable inputshaft operably coupled to the first electric motor, a rotatable shiftingshaft operably coupled to the second electric motor, a first rotatabledrive shaft, and a second rotatable drive shaft. The surgical instrumentfurther comprises an end effector extending from the shaft assembly. Theend effector is configured to perform a first end effector function inresponse to the rotation of the first rotatable drive shaft. The endeffector is configured to perform a second end effector function inresponse to the rotation of the second rotatable drive shaft. Therotatable shifting shaft is rotatable between a first engagedorientation and a second engaged orientation. The rotatable input shaftis operably coupled to the first rotatable drive shaft when therotatable shifting shaft is in the first engaged orientation. Therotatable input shaft is operably coupled to the second rotatable driveshaft when the rotatable shifting shaft is in the second engagedorientation. The rotatable input shaft is not operably engaged with thefirst rotatable drive shaft when the rotatable shifting shaft is not inthe first orientation. The rotatable input shaft is not operably engagedwith the second rotatable drive shaft when the rotatable shifting shaftis not in the second orientation.

Example 42

A surgical instrument comprising a handle, a shaft comprising alongitudinal shaft axis, and a shaft rotation joint configured to permitthe shaft to rotate relative to the handle. The shaft is rotatable aboutthe longitudinal shaft axis. The surgical instrument further comprisesan end effector comprising a proximal end effector portion and a distalend effector portion. The surgical instrument further comprises anarticulation joint. The articulation joint is distal with respect to theshaft rotation joint. The articulation joint rotatably connects theproximal end effector portion to the shaft. The end effector isrotatable about an articulation axis. The surgical instrument furthercomprises an end effector rotation joint. The end effector rotationjoint is distal with respect to the articulation joint. The distal endeffector portion is rotatable relative to the proximal end effectorportion about the end effector rotation joint.

Example 43

The surgical instrument of Example 42, further comprising a controlsystem configured to rotate the end effector about the end effectorrotation joint while the end effector is being rotated about thearticulation joint.

Example 44

The surgical instrument of Example 43, wherein the control systemcomprises a first electric motor configured to rotate the end effectorabout the end effector rotation joint and a second electric motorconfigured to rotate the end effector about the articulation joint.

Example 45

A surgical instrument comprising a handle. The handle comprises a shaftrotation electric motor, an articulation drive electric motor, an endeffector rotation electric motor, and a jaw drive electric motor. Thesurgical instrument further comprises a shaft, a shaft rotation joint,an end effector, an articulation joint, and an end effector rotationjoint. The shaft comprises a longitudinal shaft axis. The shaft rotationjoint is configured to permit the shaft to rotate relative to thehandle. The shaft is rotatable about the longitudinal shaft axis by theshaft rotation electric motor. The end effector comprises a proximal endeffector portion and a distal end effector portion. The proximal endeffector portion comprises a jaw assembly movable between an openconfiguration and a clamped configuration by the jaw drive electricmotor. The articulation joint is distal with respect to the shaftrotation joint. The articulation joint rotatably connects the proximalend effector portion to the shaft. The end effector is rotatable aboutan articulation axis by the articulation drive motor. The end effectorrotation joint is distal with respect to the articulation joint. Thedistal end effector portion is rotatable relative to the proximal endeffector portion about the end effector rotation joint by the endeffector rotation motor.

Example 46

The surgical instrument of Example 45, further comprising a controlsystem configured to operate the end effector rotation electric motor torotate the end effector about the end effector rotation joint whileoperating the articulation drive electric motor.

Example 47

A surgical instrument comprising a handle, a shaft comprising alongitudinal shaft axis, an end effector comprising a proximal endeffector portion and a distal end effector portion, and an articulationjoint. The articulation joint is distal with respect to the shaft. Thearticulation joint rotatably connects the proximal end effector portionto the shaft. The surgical instrument further comprises a rotatablearticulation drive shaft, an end effector rotation joint, and arotatable end effector drive shaft. The end effector is rotatable aboutan articulation axis by the articulation drive shaft. The end effectorrotation joint is distal with respect to the articulation joint. Thedistal end effector portion is rotatable relative to the proximal endeffector portion about the end effector rotation joint by the rotatableend effector drive shaft. The rotatable articulation drive shaft and therotatable end effector drive shaft are concentric.

Example 48

The surgical instrument of Example 47, wherein the end effector furthercomprises a jaw assembly movable between an open configuration and aclamped configuration, and wherein the end effector drive shaft isselectively operable to move the jaw assembly between the openconfiguration and the clamped configuration.

Example 49

The surgical instrument of Example 48, wherein the end effector driveshaft is translatable to move the jaw assembly between the openconfiguration and the clamped configuration.

Example 50

The surgical instrument of Examples 47, 48, or 49, further comprising acontrol system configured to rotate the end effector about the endeffector rotation joint while the end effector is being rotated aboutthe articulation joint.

Example 51

The surgical instrument of Example 50, wherein the control systemcomprises a first electric motor configured to rotate the end effectorabout the end effector rotation joint and a second electric motorconfigured to rotate the end effector about the articulation joint.

Example 52

A surgical instrument comprising a handle, a shaft comprising alongitudinal shaft axis, a shaft rotation joint configured to permit theshaft to rotate relative to the handle about the longitudinal shaftaxis, an end effector comprising a longitudinal end effector axis, anarticulation joint rotatably connecting the end effector to the shaft,an end effector rotation joint configured to permit the end effector torotate relative to the shaft about the longitudinal end effector axis, afirst electric motor configured to rotate the shaft about thelongitudinal shaft axis, a first actuator configured to receive a firstinput from the user of the surgical instrument, a second electric motorconfigured to rotate the end effector about the longitudinal endeffector axis, a second actuator configured to receive a second inputfrom the user of the surgical instrument, and a motor control system.The motor control system is configured to rotate the first electricmotor in response to the first input, rotate the second electric motorin response to the second input, and rotate the second electric motor inresponse to the first input to maintain a rotational alignment betweenthe shaft and the end effector.

Example 53

The surgical instrument of Example 52, wherein the motor control systemis configured to rotate the first electric motor in response to thesecond input to maintain a rotational alignment between the shaft andthe end effector.

Example 54

The surgical instrument of Examples 52 or 53, wherein the motor controlsystem comprises a control circuit including a microprocessor.

Example 55

A surgical instrument comprising a handle, a shaft comprising alongitudinal shaft axis, a shaft rotation joint configured to permit theshaft to rotate relative to the handle about the longitudinal shaftaxis, an end effector comprising a longitudinal end effector axis, anarticulation joint rotatably connecting the end effector to the shaft,an end effector rotation joint configured to permit the end effector torotate relative to the shaft about the longitudinal end effector axis, afirst electric motor configured to rotate the shaft about thelongitudinal shaft axis, a first actuator configured to receive a firstinput from the user of the surgical instrument, a second electric motorconfigured to rotate the end effector about the longitudinal endeffector axis, a second actuator configured to receive a second inputfrom the user of the surgical instrument, and a gear assembly configuredto synchronize the rotation of the end effector and the shaft.

Example 56

A surgical instrument comprising a handle, a shaft comprising alongitudinal shaft axis, a shaft rotation joint configured to permit theshaft to rotate relative to the handle about the longitudinal shaftaxis, an end effector comprising a longitudinal end effector axis, anarticulation joint rotatably connecting the end effector to the shaft,an end effector rotation joint configured to permit the end effector torotate relative to the shaft about the longitudinal end effector axis, afirst electric motor configured to rotate the shaft about thelongitudinal shaft axis, a first actuator configured to receive a firstinput from the user of the surgical instrument, a second electric motorconfigured to rotate the end effector about the longitudinal endeffector axis, a second actuator configured to receive a second inputfrom the user of the surgical instrument, and a motor control systemconfigured to synchronize the rotation of the end effector and theshaft.

Example 57

A surgical assembly comprising a housing, a shaft comprising alongitudinal shaft axis, a shaft rotation joint configured to permit theshaft to rotate relative to the housing about the longitudinal shaftaxis, an end effector comprising a longitudinal end effector axis, anarticulation joint rotatably connecting the end effector to the shaft,an end effector rotation joint configured to permit the end effector torotate relative to the shaft about the longitudinal end effector axis, afirst electric motor configured to rotate the shaft about thelongitudinal shaft axis, a first actuator configured to receive a firstinput from the user of the surgical assembly, a second electric motorconfigured to rotate the end effector about the longitudinal endeffector axis, a second actuator configured to receive a second inputfrom the user of the surgical instrument, and a motor control system.The motor control system is configured to rotate the first electricmotor in response to the first input, rotate the second electric motorin response to the second input, and rotate the second electric motor inresponse to the first input to maintain a rotational alignment betweenthe shaft and the end effector.

Example 58

The surgical assembly of Example 57, wherein the housing is configuredto be mounted to a robotic surgical system.

Example 59

A surgical instrument comprising a shaft, an end effector extending fromthe shaft, an input shaft, a first output shaft configured to drive afirst function of the surgical instrument, a second output shaftconfigured to drive a second function of the surgical instrument, and aclutch. The clutch is configured to selectively couple the input shaftwith the first output shaft when the clutch is in a first configurationand the second output shaft when the clutch is in a secondconfiguration. The clutch comprises a bi-stable compliant mechanismconfigured to assure that the clutch is always in one of the firstconfiguration and the second configuration.

Example 60

The surgical instrument of Example 59, wherein the clutch comprises atranslatable clutch element slideable between a proximal position in thefirst configuration and a distal position in the second configuration.

Example 61

The surgical instrument of Example 60, wherein the bi-stable compliantmechanism comprises at least one spring configured to position thetranslatable clutch element in the proximal position and the distalposition.

Example 62

The surgical instrument of Examples 60 or 61, wherein the translatableclutch element is movable proximally and distally by a linear clutchdrive.

Example 63

The surgical instrument of Examples 59, 60, 61, or 62, furthercomprising a lock configured to releasably hold the clutch in the firstconfiguration.

Example 64

The surgical instrument of Examples 59, 60, 61, or 62, furthercomprising a lock configured to releasably hold the clutch in the secondconfiguration.

Example 65

A surgical instrument comprising a shaft, an end effector extending fromthe shaft, an input shaft, a first output shaft configured to drive afirst function of the surgical instrument, a second output shaftconfigured to drive a second function of the surgical instrument, and aclutch. The clutch is configured to selectively couple the input shaftwith the first output shaft when the clutch is in a first configurationand the second output shaft when the clutch is in a secondconfiguration. The clutch comprises a biasing member configured toassure that the clutch is always in one of the first configuration andthe second configuration.

Example 66

The surgical instrument of Example 65, wherein the clutch comprises atranslatable clutch element slideable between a proximal position in thefirst configuration and a distal position in the second configuration.

Example 67

The surgical instrument of Example 66, wherein the biasing membercomprises at least one spring configured to position the translatableclutch element in the proximal position and the distal position.

Example 68

The surgical instrument of Examples 66 or 67, wherein the translatableclutch element is movable proximally and distally by a linear clutchdrive.

Example 69

The surgical instrument of Examples 65, 66, 67, or 68, furthercomprising a lock configured to releasably hold the clutch in the firstconfiguration.

Example 70

The surgical instrument of Examples 65, 66, 67, or 68, furthercomprising a lock configured to releasably hold the clutch in the secondconfiguration.

Example 71

A surgical instrument comprising a shaft, an end effector extending fromthe shaft, an input shaft, a first output shaft configured to drive afirst function of the surgical instrument, a second output shaftconfigured to drive a second function of the surgical instrument, and aclutch. The clutch is configured to selectively couple the input shaftwith the first output shaft when the clutch is in a first configurationand the second output shaft when the clutch is in a secondconfiguration. The clutch comprises a biasing member configured to biasthe clutch into the first configuration unless the clutch is in thesecond configuration.

Example 72

The surgical instrument of Example 71, wherein the clutch comprises atranslatable clutch element slideable between a proximal position in thefirst configuration and a distal position in the second configuration.

Example 73

The surgical instrument of Example 72, wherein the biasing membercomprises at least one spring configured to position the translatableclutch element in the proximal position and the distal position.

Example 74

The surgical instrument of Examples 72 or 73, wherein the translatableclutch element is movable proximally and distally by a linear clutchdrive.

Example 75

The surgical instrument of Examples 71, 72, 73, or 74, furthercomprising a lock configured to releasably hold the clutch in the firstconfiguration.

Example 76

The surgical instrument of Examples 71, 72, 73, or 74, furthercomprising a lock configured to releasably hold the clutch in the secondconfiguration.

Example 77

A surgical instrument comprising a shaft, an end effector extending fromthe shaft, an input shaft, and a plurality of output shafts. Each outputshaft is configured to drive an end effector function. The surgicalinstrument further comprises a clutch configurable in a plurality ofclutch positions. The clutch selectively couples the input shaft with anoutput shaft in each clutch position. The clutch comprises a biasingmember configured to bias the clutch into the closest clutch positionwhen the clutch is not positioned in a clutch position.

Example 78

A surgical instrument comprising a handle, a shaft comprising alongitudinal shaft axis, and a shaft rotation joint configured to permitthe shaft to rotate relative to the handle. The shaft is rotatable aboutthe longitudinal shaft axis. The surgical instrument further comprisesan end effector comprising a proximal end effector portion and a distalend effector portion. The surgical instrument further comprises anarticulation joint. The articulation joint is distal with respect to theshaft rotation joint. The articulation joint rotatably connects theproximal end effector portion to the shaft. The end effector isrotatable about an articulation axis. The surgical instrument furthercomprises an end effector rotation joint. The end effector rotationjoint is distal with respect to the articulation joint. The distal endeffector portion is rotatable relative to the proximal end effectorportion about the end effector rotation joint. The surgical instrumentfurther comprises an articulation drive. The articulation drivecomprises a first articulation driver configured to drive the endeffector when the articulation drive is in a first state. Thearticulation drive further comprises a second articulation driverconfigured to drive the end effector when the articulation drive is in asecond state. The first articulation driver is not operably engaged withthe end effector when the articulation drive is in the second state. Thesecond articulation driver is not operably engaged with the end effectorwhen the articulation drive is in the first state.

Example 79

The surgical instrument of Example 78, wherein the first articulationdriver and the second articulation driver extend through thearticulation joint but do not extend through the end effector rotationjoint.

Example 80

The surgical instrument of Examples 78 or 79, wherein the shaft has afirst portion having a first diameter and a second portion having asecond diameter smaller than the first diameter, and wherein the firstarticulation driver and the second articulation driver extend throughthe second portion of the shaft.

Example 81

A surgical instrument comprising a handle, a shaft extending from thehandle, an end effector extending from the shaft, and an articulationjoint. The articulation joint rotatably connects the end effector to theshaft about an articulation axis. The surgical instrument furthercomprises an articulation drive comprising an articulation actuator, afirst articulation driver configured to drive the end effector when thearticulation drive is in a first state, and a second articulation driverconfigured to drive the end effector when the articulation drive is in asecond state. The first articulation driver is operably engaged with thearticulation actuator when the articulation drive is in the first state.The second articulation driver is not operably engaged with thearticulation actuator when the articulation drive is in the first state.The second articulation driver is operably engaged with the articulationactuator when the articulation drive is in the second state. The firstarticulation driver is not operably engaged with the articulationactuator when the articulation drive is in the second state.

Example 82

The surgical instrument of Example 81, wherein the first articulationdriver and the second articulation driver extend through thearticulation joint.

Example 83

The surgical instrument of Examples 81 or 82, wherein the shaft has afirst portion having a first diameter and a second portion having asecond diameter smaller than the first diameter, and wherein the firstarticulation driver and the second articulation driver extend throughthe second portion of the shaft.

Example 84

A surgical instrument comprising a handle, a shaft, an end effector, anarticulation joint, and an articulation drive. The end effector isrotatable relative to the shaft about the articulation joint. Thearticulation drive comprises a first articulation driver configured todrive the end effector when the articulation drive is in a first state,and a second articulation driver configured to drive the end effectorwhen the articulation drive is in a second state. The first articulationdriver is not operably engaged with the end effector when thearticulation drive is in the second state. The second articulationdriver is not operably engaged with the end effector when thearticulation drive is in the first state.

Example 85

The surgical instrument of Example 84, wherein the articulation drivefurther comprises an articulation drive shaft and a drive coupler,wherein the drive coupler is rotatable between a first position and asecond position, wherein the drive coupler operably couples the firstarticulation driver to the articulation drive shaft when the drivecoupler is in the first position, and wherein the drive coupler operablycouples the second articulation driver to the articulation drive shaftwhen the drive coupler is in the second position.

Example 86

The surgical instrument of Examples 84 or 85, wherein the end effectoris rotatable within a range of positions including a firstfully-articulated position, an unarticulated position, and a secondfully-articulated position, wherein the first articulation driver isconfigured to move the end effector within a first range including thefirst fully-articulated position and the unarticulated position, andwherein the second articulation driver is configured to move the endeffector within a second range including the second fully-articulatedposition and the unarticulated position.

Example 87

The surgical instrument of Example 86, wherein the firstfully-articulated position is not in the second range, and wherein thesecond fully-articulated position is not in the first range.

Example 88

The surgical instrument of Examples 84, 85, 86, or 87, wherein the shafthas a first portion having a first diameter and a second portion havinga second diameter smaller than the first diameter, and wherein the firstarticulation driver and the second articulation driver extend throughthe second portion of the shaft.

Example 89

A surgical instrument comprising a handle, a shaft, an end effector, anarticulation joint, and an articulation drive. The end effector isrotatable relative to the shaft about the articulation joint. Thearticulation drive comprises a first articulation driver configured todrive the end effector when the articulation drive is in a first state,and a second articulation driver configured to drive the end effectorwhen the articulation drive is in a second state. The articulation drivefurther comprises an articulation drive shaft and a drive coupler. Thedrive coupler is rotatable between a first position in the first stateand a second position in the second state. The drive coupler operablycouples the first articulation driver to the articulation drive shaftwhen the drive coupler is in the first position. The drive coupleroperably couples the second articulation driver to the articulationdrive shaft when the drive coupler is in the second position.

Example 90

The surgical instrument Example 89, wherein the second articulationdriver is uncoupled from the drive coupler when the drive coupler is inthe first position, and wherein the first articulation driver isuncoupled from the drive coupler when the drive coupler is in the secondposition.

Example 91

The surgical instrument of Examples 89 or 90, wherein the end effectoris rotatable within a range of positions including a firstfully-articulated position, an unarticulated position, and a secondfully-articulated position, wherein the first articulation driver isconfigured to move the end effector within a first range including thefirst fully-articulated position and the unarticulated position, andwherein the second articulation driver is configured to move the endeffector within a second range including the second fully-articulatedposition and the unarticulated position.

Example 92

The surgical instrument of Example 91, wherein the firstfully-articulated position is not in the second range, and wherein thesecond fully-articulated position is not in the first range.

Example 93

The surgical instrument of Examples 89, 90, 91, or 92, wherein the shafthas a first portion having a first diameter and a second portion havinga second diameter smaller than the first diameter, and wherein the firstarticulation driver and the second articulation driver extend throughthe second portion of the shaft.

Example 94

A surgical instrument comprising a handle, a shaft, an end effector, anarticulation joint, and an articulation drive. The end effector isrotatable relative to the shaft about the articulation joint. Thearticulation drive comprises a first articulation driver configured todrive the end effector when the articulation drive is in a first state,and a second articulation driver configured to drive the end effectorwhen the articulation drive is in a second state. The end effector isrotatable within a range of positions including a firstfully-articulated position, an unarticulated position, and a secondfully-articulated position. The first articulation driver is configuredto move the end effector within a first range including the firstfully-articulated position and the unarticulated position. The secondarticulation driver is configured to move the end effector within asecond range including the second fully-articulated position and theunarticulated position.

Example 95

The surgical instrument of Example 94, wherein the firstfully-articulated position is not in the second range, and wherein thesecond fully-articulated position is not in the first range.

Example 96

The surgical instrument of Examples 94 or 95, wherein the shaft has afirst portion having a first diameter and a second portion having asecond diameter smaller than the first diameter, and wherein the firstarticulation driver and the second articulation driver extend throughthe second portion of the shaft.

Example 97

A surgical instrument comprising a handle, a shaft comprising alongitudinal shaft axis, an end effector comprising a proximal endeffector portion and a distal end effector portion, and an articulationjoint. The articulation joint is distal with respect to the shaft. Thearticulation joint rotatably connects the proximal end effector portionto the shaft. The surgical instrument further comprises a rotatablearticulation drive shaft. The end effector is rotatable about anarticulation axis by the articulation drive shaft. The surgicalinstrument further comprises an end effector rotation joint. The endeffector rotation joint is distal with respect to the articulationjoint. The surgical instrument further comprises a rotatable endeffector drive shaft. The distal end effector portion is rotatablerelative to the proximal end effector portion about the end effectorrotation joint by the rotatable end effector drive shaft. The rotatableend effector drive shaft extends through the rotatable articulationdrive shaft.

Example 98

The surgical instrument of Example 97, wherein the end effector furthercomprises a jaw assembly movable between an open configuration and aclamped configuration, and wherein the end effector drive shaft isselectively operable to move the jaw assembly between the openconfiguration and the clamped configuration.

Example 99

The surgical instrument of Example 98, wherein the end effector driveshaft is translatable to move the jaw assembly between the openconfiguration and the clamped configuration.

Example 100

A surgical instrument comprising a shaft, an end effector extending fromthe shaft, an input shaft configured to transmit an input motion, afirst output shaft configured to drive a first function of the surgicalinstrument, a second output shaft configured to drive a second functionof the surgical instrument, and a transmission configured tosimultaneously drive the first output shaft in a first direction and thesecond output shaft in a second direction in response to the inputmotion from the input shaft.

Example 101

The surgical instrument of Example 100, wherein the first output shaftand the second output shaft are configured to translate in response tothe input motion.

Example 102

The surgical instrument of Examples 100 or 101, wherein the first outputshaft translates further than the second output shaft in response to theinput motion.

Example 103

The surgical instrument of Examples 100, 101, or 102, wherein thetransmission comprises a first thread and a second thread defined on theinput shaft, wherein the first output shaft is threadably engaged withthe first thread and the second output shaft is threadably engaged withthe second thread, and wherein the first thread and the second threadare different.

Example 104

The surgical instrument of Example 103, wherein the first threadcomprises a left-hand thread and the second thread comprises aright-hand thread.

Example 105

The surgical instrument of Examples 100, 101, 102, 103, or 104, whereinthe first function comprises unlocking an end effector motion and thesecond function comprises moving the end effector through the endeffector motion.

Example 106

The surgical instrument of Examples 100, 101, 102, 103, or 104, whereinthe first function comprises moving the end effector through an endeffector motion and the second function comprises locking the endeffector to prevent the end effector from performing the end effectormotion.

Example 107

The surgical instrument of Examples 100, 101, 102, 103, or 104, whereinthe first function comprises moving the end effector between an openconfiguration and a clamped configuration to clamp tissue within the endeffector, and wherein the second function comprises fastening thetissue.

Example 108

The surgical instrument of Example 107, wherein the second functioncomprises at least one of suturing the tissue, stapling the tissue, andclipping the tissue.

Example 109

A surgical instrument comprising a shaft. The shaft comprises a frame.The surgical instrument further comprises an end effector extending fromthe shaft, an input shaft configured to transmit an input motion, afirst output member coupled to the end effector, a second output membercoupled to the frame, and a transmission. The transmission is configuredto simultaneously translate the input shaft relative to the secondoutput member and first output member relative to the input shaft.

Example 110

A surgical instrument comprising a shaft, an end effector, and a drivesystem. The drive system comprises a first rotary electric motor, afirst linear electric motor, a second rotary electric motor, and asecond linear electric motor. The first rotary electric motor comprisesa rotatable output shaft. The first rotary electric motor is configuredto drive a first end effector function. The first linear electric motoris configured to translate the first rotary electric motor to perform asecond end effector function. The second rotary electric motor comprisesa rotatable output shaft. The second rotary electric motor is configuredto drive a third end effector function. The second linear electric motoris configured to translate the second rotary electric motor to perform afourth end effector function.

Example 111

A surgical instrument comprising a shaft, an end effector, and a drivesystem. The drive system comprises a first output shaft, a second outputshaft, a first rotary electric motor configured to rotate the firstoutput shaft to perform a first end effector function, a first linearelectric motor configured to translate the first output shaft to performa second end effector function, a second rotary electric motorconfigured to rotate the second output shaft to perform a third endeffector function, and a second linear electric motor configured totranslate the second output shaft to perform a fourth end effectorfunction.

Example 112

The surgical instrument of Example 111, wherein the first output shaftextends through an aperture defined in the second output shaft.

Example 113

The surgical instrument of Examples 111 or 112, further comprising anarticulation joint rotatably connecting the end effector to the shaft,wherein the first output shaft comprises a first flexible portionextending through the articulation joint and the second output shaftcomprises a second flexible portion extending through the articulationjoint.

Example 114

The surgical instrument of Example 113, wherein the first flexibleportion comprises a first laser-cut steel tube and the second flexibleportion comprises a second laser-cut steel tube.

Example 115

The surgical instrument of Example 114, wherein the first laser-cutsteel tube extends through the second laser-cut steel tube.

Example 116

A surgical instrument comprising a shaft, an end effector, and a drivesystem. The drive system comprises an output shaft, a first electricmotor configured to rotate the output shaft to perform a first endeffector function, a second electric motor configured to translate theoutput shaft to perform a second end effector function, a conductorextending with the shaft, and a slip joint in electrical communicationwith the conductor. The slip joint is configured to translate with theoutput shaft.

Example 117

A surgical instrument system comprising a first handle and a secondhandle. The first handle comprises two independently-operable driveinputs. The second handle comprises two synchronously-operated driveinputs. The surgical instrument system further comprises a shaftassembly selectively, and separately, attachable to the first handle andthe second handle. The shaft assembly comprises two drive outputs and aclutch system. The two drive inputs are selectively, and separately,engageable with the two independently-operable drive inputs and the twosynchronously-operated drive inputs. The clutch system is configured toselectively deactivate one of the two drive outputs when the shaftassembly is attached to the second handle. The two drive outputs areindependently drivable by the two independently-operable drive inputswhen the shaft assembly is attached to the first handle.

Example 118

The surgical instrument system of Example 117, wherein the two driveoutputs comprise a first drive output and a second drive output, whereinthe clutch system comprises a clutch element shiftable between a firstposition and a second position, wherein the first drive output isdrivable to perform a function of the shaft assembly and the seconddrive output is not drivable to perform a function of the shaft assemblywhen the clutch element is in the first position, and wherein the seconddrive output is drivable to perform a function of the shaft assembly andthe first drive output is not drivable to perform a function of theshaft assembly when the clutch element is in the second position.

Example 119

The surgical instrument system of Examples 117 or 118, wherein theclutch system comprises at least one solenoid-driven clutch elementconfigured to clutch out one of the two drive outputs of the shaftassembly.

Example 120

A surgical instrument handle comprising a housing, a manually-drivenactuator, an electric motor, a first output, a second output, and acontrol circuit. The first output is operably coupled to themanually-driven actuator. The first output is responsive to an actuationof the manually-driven actuator. The second output is operably coupledto the electric motor. The control circuit is configured to operate theelectric motor in response to the actuation of the manually-drivenactuator.

Example 121

The surgical instrument handle of Example 120, wherein the first outputcomprises a first rotatable output and the second output comprises asecond rotatable output.

Example 122

The surgical instrument handle of Example 121, wherein the rotation ofthe second rotatable output is synchronized to the rotation of the firstrotatable output.

Example 123

The surgical instrument handle of Example 121, wherein the firstrotatable output and the second rotatable output are rotated at the samespeed.

Example 124

The surgical instrument handle of Example 121, wherein the firstrotatable output and the second rotatable output are rotatable atdifferent speeds.

Example 125

The surgical instrument handle of Examples 120, 121, 122, 123, or 124,wherein the control circuit comprises a sensor configured to detect theactuation of the manually-driven actuator.

Example 126

A surgical instrument system comprising a handle, an end effector, amanually-operated actuator, an electric motor, a first output, a secondoutput, and a control circuit. The first output is operably coupled tothe manually-operated actuator. The first output is responsive to anactuation of the manually-operated actuator to drive a first endeffector function. The second output is operably coupled to the electricmotor. The control circuit is configured to operate the electric motorin response to the actuation of the manually-operated actuator to drivethe second output at the same time as the first output to perform asecond end effector function which is different than the first endeffector function.

Example 127

A surgical instrument system comprising a handle, an end effectorconfigured to perform a first end effector function and a second endeffector function, a first drive system comprising a first actuator anda first electric motor, a second drive system comprising a secondactuator and a second electric motor, and a control system. The controlsystem is operable in a first operating mode in which the first electricmotor is responsive to an actuation of the first actuator and the secondelectric motor is not responsive to an actuation of the first actuator.The control system is further operable in a second operating mode inwhich the second electric motor is responsive to an actuation of thesecond actuator and the first electric motor is not responsive to anactuation of the second actuator. The control system is further operablein a third operating mode in which the first electric motor and thesecond electric motor are responsive to an actuation of the firstactuator.

Example 128

The surgical instrument system of Example 127, wherein the controlsystem is operable in a fourth operating mode in which the firstelectric motor and the second electric motor are responsive to anactuation of the second actuator.

Example 129

The surgical instrument system of Examples 127 or 128, wherein the firstend effector function comprises articulating the end effector about anarticulation joint and the second end effector function comprisesrotating the end effector about a rotation joint.

Example 130

The surgical instrument system of Examples 127 or 128, furthercomprising a shaft, wherein the end effector extends from the shaft,wherein the first end effector function comprises rotating the shaftabout a shaft rotation joint and the second end effector functioncomprises rotating the end effector about an end effector rotationjoint.

Example 131

The surgical instrument system of Example 130, further comprising anarticulation joint connecting the end effector to the shaft.

Example 132

A surgical instrument system comprising a first handle, a second handle,and a shaft assembly. The first handle comprises a first output drivenby an electric motor. The second handle comprises a second output drivenby a manual input provided by the user of the surgical instrumentsystem. The shaft assembly is selectively, and separately, attachable tothe first handle and the second handle. The shaft assembly comprises anend effector drive comprising a shaft input. The shaft input is operablycoupled to the motor-driven first output when the shaft assembly isattached to the first handle. The shaft input is operably coupled to themanually-driven second output when the shaft assembly is attached to thesecond handle.

Example 133

The surgical instrument system of Example 132, wherein the first handlecomprises a first housing and a first array of magnetic elements mountedto the first housing, wherein the second handle comprises a secondhousing and a second array of magnetic elements mounted to the secondhousing, wherein the shaft assembly comprises a shaft housing and ashaft array of magnetic elements, wherein the shaft array of magneticelements interact with the first array of magnetic elements to orientthe shaft assembly relative to the first handle in a first orientation,and wherein the shaft array of magnetic elements interact with thesecond array of magnetic elements to orient the shaft assembly relativeto the second handle in a second orientation which is different than thefirst orientation.

Example 134

A surgical instrument system comprising a first handle, a second handle,and a shaft assembly. The first handle comprises a first housing, afirst output, and a first array of magnetic elements. The second handlecomprises a second housing, a second output, and a second array ofmagnetic elements. The shaft assembly is selectively, and separately,attachable to the first handle and the second handle. The shaft assemblycomprises a shaft housing, an end effector drive, and a shaft array ofmagnetic elements. The end effector drive comprises a shaft input. Theshaft input is operably coupled to the first output when the shaftassembly is attached to the first handle. The shaft input is operablycoupled to the second output when the shaft assembly is attached to thesecond handle. The shaft array of magnetic elements interact with thefirst array of magnetic elements to orient the shaft assembly relativeto the first handle in a first orientation. The shaft array of magneticelements interact with the second array of magnetic elements to orientthe shaft assembly relative to the second handle in a second orientationwhich is different than the first orientation.

The devices, systems, and methods disclosed in the Subject applicationcan be used with the devices, systems, and methods disclosed in U.S.Provisional Patent Application No. 62/659,900, entitled METHOD OF HUBCOMMUNICATION, filed on Apr. 19, 2018, U.S. Provisional PatentApplication No. 62/611,341, entitled INTERACTIVE SURGICAL PLATFORM,filed on Dec. 28, 2017, U.S. Provisional Patent Application No.62/611,340, entitled CLOUD-BASED MEDICAL ANALYTICS, filed on Dec. 28,2017, and U.S. Provisional Patent Application No. 62/611,339, entitledROBOT ASSISTED SURGICAL PLATFORM, filed on Dec. 28, 2017, which areincorporated in their entireties herein. The devices, systems, andmethods disclosed in the Subject application can also be used with thedevices, systems, and methods disclosed in U.S. patent application Ser.No. 15/908,021, entitled SURGICAL INSTRUMENT WITH REMOTE RELEASE, filedon Feb. 28, 2018, U.S. patent application Ser. No. 15/908,012, entitledSURGICAL INSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENTTYPES OF END EFFECTOR MOVEMENT, filed on Feb. 28, 2018, U.S. patentapplication Ser. No. 15/908,040, entitled SURGICAL INSTRUMENT WITHROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS,filed on Feb. 28, 2018, U.S. patent application Ser. No. 15/908,057,entitled SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATINGMULTIPLE END EFFECTOR FUNCTIONS, filed on Feb. 28, 2018, U.S. patentapplication Ser. No. 15/908,058, entitled SURGICAL INSTRUMENT WITHMODULAR POWER SOURCES, filed on Feb. 28, 2018, and U.S. patentapplication Ser. No. 15/908,143, entitled SURGICAL INSTRUMENT WITHSENSOR AND/OR CONTROL SYSTEMS, filed on Feb. 28, 2018, which areincorporated in their entireties herein. The devices, systems, andmethods disclosed in the Subject application can also be used with thedevices, systems, and methods disclosed in U.S. patent application Ser.No. 14/226,133, now U.S. Patent Application Publication No.2015/0272557, entitled MODULAR SURGICAL INSTRUMENT SYSTEM, filed on Mar.26, 2014, which is incorporated in its entirety herein.

The entire disclosures of:

U.S. patent application Ser. No. 11/013,924, entitled TROCAR SEALASSEMBLY, now U.S. Pat. No. 7,371,227;

U.S. patent application Ser. No. 11/162,991, entitled ELECTROACTIVEPOLYMER-BASED ARTICULATION MECHANISM FOR GRASPER, now U.S. Pat. No.7,862,579;

U.S. patent application Ser. No. 12/364,256, entitled SURGICALDISSECTOR, now U.S. Patent Application Publication No. 2010/0198248;

U.S. patent application Ser. No. 13/536,386, entitled EMPTY CLIPCARTRIDGE LOCKOUT, now U.S. Pat. No. 9,282,974;

U.S. patent application Ser. No. 13/832,786, entitled CIRCULAR NEEDLEAPPLIER WITH OFFSET NEEDLE AND CARRIER TRACKS, now U.S. Pat. No.9,398,905;

U.S. patent application Ser. No. 12/592,174, entitled APPARATUS ANDMETHOD FOR MINIMALLY INVASIVE SUTURING, now U.S. Pat. No. 8,123,764;

U.S. patent application Ser. No. 12/482,049, entitled ENDOSCOPICSTITCHING DEVICES, now U.S. Pat. No. 8,628,545;

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat.No. 9,072,535;

U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMSFOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629;

U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVENSURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Pat. No.9,826,976;

U.S. patent application Ser. No. 14/813,242, entitled SURGICALINSTRUMENT COMPRISING SYSTEMS FOR ASSURING THE PROPER SEQUENTIALOPERATION OF THE SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2017/0027571;

U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICALSTAPLER, now U.S. Pat. No. 9,867,612;

U.S. patent application Ser. No. 12/945,748, entitled SURGICAL TOOL WITHA TWO DEGREE OF FREEDOM WRIST, now U.S. Pat. No. 8,852,174;

U.S. patent application Ser. No. 13/297,158, entitled METHOD FORPASSIVELY DECOUPLING TORQUE APPLIED BY A REMOTE ACTUATOR INTO ANINDEPENDENTLY ROTATING MEMBER, now U.S. Pat. No. 9,095,362;

International Application No. PCT/US2015/023636, entitled SURGICALINSTRUMENT WITH SHIFTABLE TRANSMISSION, now International PatentPublication No. WO 2015/153642 A1;

International Application No. PCT/US2015/051837, entitled HANDHELDELECTROMECHANICAL SURGICAL SYSTEM, now International Patent PublicationNo. WO 2016/057225 A1;

U.S. patent application Ser. No. 14/657,876, entitled SURGICAL GENERATORFOR ULTRASONIC AND ELECTROSURGICAL DEVICES, U.S. Patent ApplicationPublication No. 2015/0182277;

U.S. patent application Ser. No. 15/382,515, entitled MODULAR BATTERYPOWERED HANDHELD SURGICAL INSTRUMENT AND METHODS THEREFOR, U.S. PatentApplication Publication No. 2017/0202605;

U.S. patent application Ser. No. 14/683,358, entitled SURGICAL GENERATORSYSTEMS AND RELATED METHODS, U.S. Patent Application Publication No.2016/0296271;

U.S. patent application Ser. No. 14/149,294, entitled HARVESTING ENERGYFROM A SURGICAL GENERATOR, U.S. Pat. No. 9,795,436;

U.S. patent application Ser. No. 15/265,293, entitled TECHNIQUES FORCIRCUIT TOPOLOGIES FOR COMBINED GENERATOR, U.S. Patent ApplicationPublication No. 2017/0086910; and

U.S. patent application Ser. No. 15/265,279, entitled TECHNIQUES FOROPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMSAND SURGICAL INSTRUMENTS, U.S. Patent Application Publication No.2017/0086914, are hereby incorporated by reference herein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdo not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A surgical instrument, comprising: a handle; ashaft comprising a longitudinal shaft axis; a shaft rotation jointconfigured to permit said shaft to rotate relative to said handle,wherein said shaft is rotatable about said longitudinal shaft axis; anend effector comprising a proximal end effector portion and a distal endeffector portion; an articulation joint, wherein said articulation jointis distal with respect to said shaft rotation joint, wherein saidarticulation joint rotatably connects said proximal end effector portionto said shaft, and wherein said end effector is rotatable about anarticulation axis; and an end effector rotation joint, wherein said endeffector rotation joint is distal with respect to said articulationjoint, and wherein said distal end effector portion is rotatablerelative to said proximal end effector portion about said end effectorrotation joint.
 2. The surgical instrument of claim 1, furthercomprising a control system configured to rotate said end effector aboutsaid end effector rotation joint while said end effector is beingrotated about said articulation joint.
 3. The surgical instrument ofclaim 2, wherein said control system comprises a first electric motorconfigured to rotate said end effector about said end effector rotationjoint and a second electric motor configured to rotate said end effectorabout said articulation joint.
 4. A surgical instrument, comprising: ahandle, comprising: a shaft rotation electric motor; an articulationdrive electric motor; an end effector rotation electric motor; and a jawdrive electric motor; a shaft comprising a longitudinal shaft axis; ashaft rotation joint configured to permit said shaft to rotate relativeto said handle, wherein said shaft is rotatable about said longitudinalshaft axis by said shaft rotation electric motor; an end effectorcomprising a proximal end effector portion and a distal end effectorportion, wherein said proximal end effector portion comprises a jawassembly movable between an open configuration and a clampedconfiguration by said jaw drive electric motor; an articulation joint,wherein said articulation joint is distal with respect to said shaftrotation joint, wherein said articulation joint rotatably connects saidproximal end effector portion to said shaft, and wherein said endeffector is rotatable about an articulation axis by said articulationdrive motor; and an end effector rotation joint, wherein said endeffector rotation joint is distal with respect to said articulationjoint, and wherein said distal end effector portion is rotatablerelative to said proximal end effector portion about said end effectorrotation joint by said end effector rotation motor.
 5. The surgicalinstrument of claim 4, further comprising a control system configured tooperate said end effector rotation electric motor to rotate said endeffector about said end effector rotation joint while operating saidarticulation drive electric motor.
 6. A surgical instrument, comprising:a handle; a shaft comprising a longitudinal shaft axis; an end effectorcomprising a proximal end effector portion and a distal end effectorportion; an articulation joint, wherein said articulation joint isdistal with respect to said shaft, wherein said articulation jointrotatably connects said proximal end effector portion to said shaft; arotatable articulation drive shaft, wherein said end effector isrotatable about an articulation axis by said articulation drive shaft;an end effector rotation joint, wherein said end effector rotation jointis distal with respect to said articulation joint; and a rotatable endeffector drive shaft, wherein said distal end effector portion isrotatable relative to said proximal end effector portion about said endeffector rotation joint by said rotatable end effector drive shaft, andwherein said rotatable articulation drive shaft and said rotatable endeffector drive shaft are concentric.
 7. The surgical instrument of claim6, wherein said end effector further comprises a jaw assembly movablebetween an open configuration and a clamped configuration, and whereinsaid end effector drive shaft is selectively operable to move said jawassembly between said open configuration and said clamped configuration.8. The surgical instrument of claim 7, wherein said end effector driveshaft is translatable to move said jaw assembly between said openconfiguration and said clamped configuration.
 9. The surgical instrumentof claim 6, further comprising a control system configured to rotatesaid end effector about said end effector rotation joint while said endeffector is being rotated about said articulation joint.
 10. Thesurgical instrument of claim 9, wherein said control system comprises afirst electric motor configured to rotate said end effector about saidend effector rotation joint and a second electric motor configured torotate said end effector about said articulation joint.
 11. A surgicalinstrument, comprising: a handle; a shaft comprising a longitudinalshaft axis; a shaft rotation joint configured to permit said shaft torotate relative to said handle about said longitudinal shaft axis; anend effector comprising a longitudinal end effector axis; anarticulation joint rotatably connecting said end effector to said shaft;an end effector rotation joint configured to permit said end effector torotate relative to said shaft about said longitudinal end effector axis;a first electric motor configured to rotate said shaft about saidlongitudinal shaft axis; a first actuator configured to receive a firstinput from the user of said surgical instrument; a second electric motorconfigured to rotate said end effector about said longitudinal endeffector axis; a second actuator configured to receive a second inputfrom the user of said surgical instrument; and a motor control systemconfigured to: rotate said first electric motor in response to saidfirst input; rotate said second electric motor in response to saidsecond input; and rotate said second electric motor in response to saidfirst input to maintain a rotational alignment between said shaft andsaid end effector.
 12. The surgical instrument of claim 11, wherein saidmotor control system is configured to rotate said first electric motorin response to said second input to maintain a rotational alignmentbetween said shaft and said end effector.
 13. The surgical instrument ofclaim 11, wherein said motor control system comprises a control circuitincluding a microprocessor.
 14. A surgical instrument, comprising: ahandle; a shaft comprising a longitudinal shaft axis; a shaft rotationjoint configured to permit said shaft to rotate relative to said handleabout said longitudinal shaft axis; an end effector comprising alongitudinal end effector axis; an articulation joint rotatablyconnecting said end effector to said shaft; an end effector rotationjoint configured to permit said end effector to rotate relative to saidshaft about said longitudinal end effector axis; a first electric motorconfigured to rotate said shaft about said longitudinal shaft axis; afirst actuator configured to receive a first input from the user of saidsurgical instrument; a second electric motor configured to rotate saidend effector about said longitudinal end effector axis; a secondactuator configured to receive a second input from the user of saidsurgical instrument; and a gear assembly configured to synchronize therotation of said end effector and said shaft.
 15. A surgical instrument,comprising: a handle; a shaft comprising a longitudinal shaft axis; ashaft rotation joint configured to permit said shaft to rotate relativeto said handle about said longitudinal shaft axis; an end effectorcomprising a longitudinal end effector axis; an articulation jointrotatably connecting said end effector to said shaft; an end effectorrotation joint configured to permit said end effector to rotate relativeto said shaft about said longitudinal end effector axis; a firstelectric motor configured to rotate said shaft about said longitudinalshaft axis; a first actuator configured to receive a first input fromthe user of said surgical instrument; a second electric motor configuredto rotate said end effector about said longitudinal end effector axis; asecond actuator configured to receive a second input from the user ofsaid surgical instrument; and a motor control system configured tosynchronize the rotation of said end effector and said shaft.
 16. Asurgical assembly, comprising: a housing; a shaft comprising alongitudinal shaft axis; a shaft rotation joint configured to permitsaid shaft to rotate relative to said housing about said longitudinalshaft axis; an end effector comprising a longitudinal end effector axis;an articulation joint rotatably connecting said end effector to saidshaft; an end effector rotation joint configured to permit said endeffector to rotate relative to said shaft about said longitudinal endeffector axis; a first electric motor configured to rotate said shaftabout said longitudinal shaft axis; a first actuator configured toreceive a first input from the user of said surgical assembly; a secondelectric motor configured to rotate said end effector about saidlongitudinal end effector axis; a second actuator configured to receivea second input from the user of said surgical instrument; and a motorcontrol system configured to: rotate said first electric motor inresponse to said first input; rotate said second electric motor inresponse to said second input; and rotate said second electric motor inresponse to said first input to maintain a rotational alignment betweensaid shaft and said end effector.
 17. The surgical assembly of claim 16,wherein said housing is configured to be mounted to a robotic surgicalsystem.